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Antagonistic Tendon Twin-Groove Capstan
A 44 mm OD, 36 mm tall capstan pulley for a 5 mm motor shaft, with two separate 36 mm cable grooves so one shaft can drive a push-pull tendon pair for a zero-backlash robot joint. The shaft bore is 5.2 mm and locks with an M3 set screw into a captured M3 nut. Each groove has a 2.2 mm cable port into a hollow internal ring, so a crimped ferrule anchors each cable on its own.
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