This capstan gear has been designed for a Peg Solitaire playing delta robot (preview in attached YouTube video). The gear has been made in collaboration with https://online-solitaire.com/ and http://worldofcardgames.com/, who have sponsored the robot.

The gear is free to use, but if you plan to use it, I suggest taking the dimensions of the gear into consideration. I've written a thorough blog post where I go through all the calculations made for the dimensioning of the capstan. You can find the post here: https://blog.worldofcardgames.com/2023/05/dimensioning-capstan-gear-for-peg.html.