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ROBOMECH Journal

Table 3 Pulley diameter and pitch diameter

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

Pulley name

Pulley diameter (mm)

Pitch diameter (mm)

a

\(\upphi\)7

\(\upphi\)7.45

b

\(\upphi\)5

\(\upphi\)5.45

c

\(\upphi\)7

\(\upphi\)7.45

d

\(\upphi\)5

\(\upphi\)5.45

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