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Because with a belt pulley, when you change directions the tension remains constant and there is no "play" providing a more consistent positioning of the pulley. With a gear there is "play" or slack in the gears to allow them to roll freely. But when you change directions, your positioning will not be as precise. If gears were installed without play or a small amount of slack they would wear out prematurely. Belts can be installed with a tight - somewhat stretched fit and will provide much more accurate positioning while transferring power.

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Q: Why should a belt pulley be used over gears in Robotics?
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