mm from center axis to center of wrist Maximum payload: 2.2 kg Arm weight: 13.2 kg Repeatability ±0.05 mm max velocity: 1245 mm/sec straight line moves Model 560 C 6 Axis arm with 3 axis making up a spherical wrist. Maximum reach 878mm from center axis to center of wrist Software selectable payloads from 4 kg to 2.5 kg Arm weight: 83 kg (approximate) Repeatability ±0.1mm 2.5 kg max velocity: 500mm/sec straight line moves 4.0 kg max velocity: 470mm/sec straight line moves Model 761 and 762 6 Axis arm with 3 axis making up a spherical wrist. Maximum reach 761: 1.50m from center axis to center of wrist 762: 1.25m from center axis to center of wrist Arm mass: 761: 600 kg 762: 590 kg Payload: 761: 10 kg 762: 20 kg Repeatability ±0.2mm max velocity: 1000mm/sec straight line moves Control system Variable Assembly Language References Books that Reference the PUMA design "Essentials of Mechatronics" Billingsley,John. John Wiley & Sons. Hoboken, NJ. 2006 Ch.9 "Robot Modeling and Kinematics" Manseur,Rachid. DaVinci Engineering Press. Boston, MA. 2006 Ch.4-5 "Robotics Technology and Flexible Automation 2nd Edition" S.R. Deb. McGraw Hill. New Delhi. 2010 External links Stäubli Robotics Film from 1981 titled 'PUMA...The Leading Edge in Robotic Technology' produced by Unimation, Inc. Industrial robots 1975 robots Robotics at Unimation