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Genesis P102 and Feedback HRA934
The P102 model was introduced by Powertran Cybernetics in 1982 as an enhanced version of their existing P101 robot arm. If the P101 is any guide, it will have remained on sale from Feedback Instruments until the early nineties.
The P102 was initially built with the same mechanical layout as the P101, but in 1983 it appeared with a new upper arm configuration, presumably designed to shorten its previously lengthy wrist section. This involved the introduction of a 'folded' under-ram layout and twin transverse wrist-rotate cylinders which revolved the gripper by means of a push-pull rack and pinion system. The arrangement can be seen more clearly in the close-up of the gripper section below.
When Powertran became part of the Feedback group in 1983, the P102 was also marketed as the HRA934, as this Feedback Instruments ad shows (btw, can you spot the typo?).
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Enhancements over the P101
All cylinders except the gripper were double-acting on the P102, for improved torque, and the hydraulic system offered two speeds via restrictor valves. Positional feedback coils were applied to all six axes, whereas the P101 only featured five (the gripper being unmonitored). An increase in lift capacity from 2kg to 2.5kg was also claimed - although this may have been mostly due to the P102's reduced maximum arm extension.
Its accompanying microcontroller unit also offered increased memory capacity, thereby allowing a greater range of arm positions to be stored for auto playback.
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This range shot from a Powertran ad in August 1984, demonstrates the difference in upper arm configuration between the original P102 (which took the same form as the P101 shown on the left) and the later P102 on the right. The price of a P102 was then £1476 + VAT in kit form, or £1950 + VAT ready built.
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