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a high-precision ball joint consisting of a spherical outer and inner race separated by ball bearings. The ball bearings are housed in a spherical retainer and roll along both the inner and outer surfaces. This design allows the joint to have very low friction while maintaining a large range of motion and backlash as low as 1 um. SRJs are often used in parallel robotics applications like a Stewart platform, where high rigidity and low backlash

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