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Table 1 Specifications of the wrist mechanism

From: Simple noninterference mechanism between the pitch and yaw axes for a wrist mechanism to be employed in robot-assisted laparoscopic surgery

Items Specification
 Size
 Maximum diameter \(\upphi\)7.5 mm
 Offset from pitch axis to yaw axis 6.95 mm
 Offset from yaw axis to gripper axis 0 mm
 Radius from gripper axis to tip 17.5 mm
 Gripper face length 14.3 mm
Range of motion
 Radius of arc-shape guide 1.5 + (0.45/2) mm
 Rotation radius of wire tip around pitch axis 9.45 + (0.45/2) mm
 Pitch ± 90°