[Dave Flowerday]

FWIW, if you're having issues getting zapped when touching the robot, a very simple solution is to grab something else metal (like a wrench or something) and touch that to the robot. The zap will still occur, but it will be between the tool and the robot frame. The pain associated with getting zapped is mostly from the burning caused by the arc as it enters your skin. If you move the arc to a metal extension instead of your finger you most likely won't even feel it. We've been doing this since 2003 (we had terrible static issues with our robot that year - that's what a dry Midwest build site does for you).