Newsgroups: comp.robotics,comp.robotics
Path: cantaloupe.srv.cs.cmu.edu!das-news2.harvard.edu!news2.near.net!satisfied.apocalypse.org!news.mathworks.com!udel!rochester!jag
From: Martin Jagersand  <jag@cs.rochester.edu>
Subject: Re: Multi-axis arm
In-Reply-To: <3ja6mt$ief@acmey.gatech.edu>
Message-ID: <199503050205.VAA00269@vein.cs.rochester.edu>
Sender: jag@cs.rochester.edu (Martin Jagersand)
Organization: University of Rochester Computer Science Department
Date: Sat, 4 Mar 1995 21:05:02 -0500
Lines: 31
Xref: glinda.oz.cs.cmu.edu comp.robotics:18601

In article <3ja6mt$ief@acmey.gatech.edu> you write:
>We have a requirement for a multi-axis robot arm capable of external
>control such as force reflection(not teach'n'repeat). The use will be
>for a laboratory based medical research platform. The size required is
>roughly equivalent to a human arm and payload capacity around 5 pounds.
>Price is not a major constraint (yet).  
>
>Does anybody have any suggested vendor or other information?  Any
>information would be greatly appreciated.  

Have you considered Bill Townsend's and Ken Salisbury's MIT/WAM
manipulator? BT (and wife I think) have started a company "Barrett
Technology" manufacturing these.

In short the MIT/WAM is a tendon driven, backdrivable 4DOF arm
similar in overall scale to a human arm. Price around 100k I think.
(Much cheaper than Sarcos hydraulic one anyway).

Check Chapter 7 of BT's thesis (TR 1054 MIT AI lab) for an overview of
the arm. BT's email is wt@barrett.com. Don't have the snail address
handy.

Martin

-- 
Martin Jagersand                 email: jag@cs.rochester.edu
Computer Science Department             jag@cs.chalmers.se
University of Rochester          Fax:   (716) 461-2018
Rochester, NY 14627-0226         WWW: http://www.cs.rochester.edu/u/jag/


