🚀 go-pugleaf

I am a fouth year computer engineering student currently working on a 
project which involves the design of a eucentric stage for a Scanning
Electron Microscope (SEM).  This stage will have full eucentric
(wrist type) movement; flexion, rotation plus standard linear 
positioning in X, Y and Z planes.  A computer will control the stage.

I came across a book by M.E Rosheim titled Robot Wrist Actuators.
Studying the different models presented I concluded that the wrist
component should be a Pitch-Yaw-Roll type wrist. In his book
Rosheim talks about the Robot Wrist Actuator and the Compact
Wrist Actuator he invented.  Also introduced is the Omni-Wrist.

I think I can base my design on one of these three models.
At this point in the project I am still studying kinematics and 
thermodynamics (the stage is located in a vacuum chamber) and
preparing a feasibility report (detailed with model, operating
specs...).

What I need to know 
     Are there any manufacturers that commercially produce and 
     sell one of these wrists? I am not interested in the entire arm
     assembly but just the wrist. The name Ross-Hime Designs was
     mentionned to me.  

     What are the price range for the different models?

     Where can I obtain mechanical drawings and design specifications?

Thanks in advance for the info.

Daniel Labonte
dlabonte@sunee.uwaterloo.ca