This capstan gear is part of a Peg Solitaire playing delta-robot . Capstan gears are a great type of gear that is under-utilized in the world of robotics. The best thing about capstan gears is that they are free of any backlash. The robot was made in collaboration with Online Solitaire and World of Card Games who sponsored the creation of the robot. If you plan on using the capstan gear for you own product, I suggest you take a look at my guide on how to do the calculations for the dimensioning of the capstan gear .