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\F4\←L\-R\/'7;\+R\→.\→S   Telephone:
\F1\CApril 18,1974

Mr. Nick Yaroshuk
Manufacturing Development Labs.
Westinghouse Research Center
Building 601
1300 Beulah Rd.
Pittsburgh, Pa.  15235

Dear Mr. Yaroshuk:

	I have checked into the availability of the movie "Pump Assembly", 
Presently, all our copies are out on loan, and none are expected back
before the end of the month.  But, should a copy be returned early, I will have
it sent to you promptly.  In any event, I suggest you write to get on the
waiting list, if I am not able to get a copy out before the 29th of April.

	You requested some price information on the arms.   
The model M.I.T. arm (pictured on the flyer) costs $7700 with a hand and an
electronics package.   The arm has potentiometer feedback on all joints, plus
tachometer feedback on the first three joints (shoulder and elbow).  The hand
has either parallelogram motion jaws or accomodating motion jaws.  The electronics
package includes a power supply (plugs into 120 vac), the power amplifiers
for all the joints and the hand, the brake drivers, a manual controller for
controlling the brakes and individual joints manually, some computer interface
logic, and some protection circuitry.  You must supply the computer, the a/d
and d/a, and the precision reference supply for the potentiometers. No programs
are included at the present time.  

	I quantities of 10 arms, all purchased at the same time, there is a
savings of over 20% giving a price of $6000 each.  The arms are also 
available in major component form.  Thus, you can purchase the arm, the hand,
and the electronics separately.  More accessories will be available in the
near future.  These will include a force balance wrist, different types of
hands, completely counterbalanced geometry and, encoder or resolver position

	The model Stanford arm, like the one you saw at SRI and at Stanford
University is priced at $16,000 with  a parallel motion hand and electronics.  In quantities
of 3 the price is $15,000 each.
The required computer interface is identical to that of the M.I.T. arm.  
An encoder or resolver option is now available on the three shoulder joints at a
price of $1500 additional per arm when ordered with the arm.

	I hope this answers your questions.  If not, let me know.\.


Yours sincerely,

Victor Scheinman