Attaining classic 6 DOF kinematics (R-S-S-R-S-R)
mechanical upgrade of the standard to increase load options (stepped joint sizes).
Development of a new standard joint with larger effective diameters - RL-90-BL1. Diameter of the rope guide, pivot = 90mm, rotation = 110 mm, and also increased rod diameter between first and second joint to d = 40 mm.
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