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Table 1 Parameters of the RCM based on SMA

From: Intelligent Modularized Reconfigurable Mechanisms for Robots: Development and Experiment

\(r_{ball}\) (mm) \(w_{b}\) (mm) \(\alpha_{b}\) (°) \(\beta_{s}\) (°) \(\gamma_{s}\) (°) \(d_{ball}\) (mm) \(l_{slider}\) (mm)
3.5 7 30 40 5 2.56 4.33