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135 degrees 180 degrees 19 cable 3x7 cable 45 degrees addition allows Alpha approximately ARGONNE NATIONAL LABORATORY Arm Center Line bending stress cable of constant cable or tape Cables and Tapes cent of ultimate change in length circular arc CM CM CM o CM constant length cot a)2 cota Data missing Data Data missing TABLE diameter cable ELECTRONIC MANIPULATOR equation four-bar linkage graphical solution inch length due Lj/R load due Load for Cables LOOP-FLOW DIAGRAM lower arm manipulator design mechanical cable mechanical manipulators missing Data missing MN L2 moved the pulley Operation Codes Parameter Set 12 Particular Solution Pitch Line Tangent pivot plane prescribed path problem Program For Particular pulley diameter Pulley Pitch Line Radians reference angles relationship rotation shows single link Table XXVII Ultimate Load upper arm variation X MN L2 X-Y cot