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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