{
  "abstract": "In one variation, a pulley arrangement includes a base pulley portion rotatable within a driving plane, an adjustable pulley portion coupled to the base pulley portion wherein the adjustable pulley portion is rotatable relative to the base pulley portion within the driving plane, and a driving member including an end coupled to the adjustable pulley portion wherein at least a portion of the driving member is wrapped at least partially around the adjustable pulley portion. In another variation, a pulley arrangement includes a base pulley portion rotatable around an axis, an adjustable pulley portion coupled to the base pulley portion and movable in a first direction parallel to the axis, and a sliding block engaged with the adjustable pulley portion, wherein the sliding block moves in a second direction different from the first direction, in response to compression of the adjustable pulley portion against the base pulley portion.",
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    "KOENIG KAREN SHAKESPEAR",
    "LEÓN Ricardo Alfonso",
    "METZGER ANDREW",
    "MORFEY STEPHEN JOHN",
    "SOUNDARARAJAN Vijay",
    "WILLIAMS MATTHEW REAGAN"
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  "title": "Belt termination and tensioning in a pulley arrangement for a robotic arm",
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