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ROBOMECH Journal

Table 4 Pulley diameter and pitch diameter

From: Proof of concept for a wrist mechanism for articulated forceps for use in robot-assisted laparoscopic surgery

Pulley name

Pulley diameter (mm)

Pitch diameter (mm)

A

ϕ7

φ7.45

B

ϕ4

φ4.45

C

ϕ7

φ7.45

D

ϕ3

φ3.45

E

ϕ3

φ3.45

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