Background
Methods
One bellows | |
Hardness | 50 |
Internal/external diameter (mm) | 20/35 |
Natural length (mm) | 195 |
Minimum length (mm) | 90 |
Maximum length (mm) | 280 |
Rubber material | Chloroprene rubber |
Entire device | |
Set pressure (kPa) | 20 |
Weight (g) | 1552 |
External diameter (mm) | 130 |
Minimum length (mm) | 210 |
Maximum length (mm) | 390 |
Radius of curvature (mm) | 169 |
Components | |
Port valve | MSHRP3 (MISUMI Corporation) |
Regulator | ITV10J1-211L (SMC Corporation) |
Pipe diameter (mm) | 6 |
Pressure (kPa) | Maximum length (mm) |
---|---|
5 | 320 |
10 | 345 |
15 | 375 |
20 | 385 |
Results and discussion
First prototype: posture measurements
Pressure (kPa) | RMS of tip position errors |
---|---|
5 | 9.78 |
10 | 7.88 |
15 | 6.65 |
20 | 4.30 |
First prototype: omnidirectional reflexive motion and grasping test
Second prototype extended grasping part: configuration
One bellows | |
Hardness | 50 |
Internal/external diameter (mm) | 20/35 |
Natural length (mm) | 195 |
Minimum length (mm) | 90 |
Maximum length (mm) | 280 |
Rubber material | Chloroprene rubber |
Entire mechanism | |
Weight (kg) | 4.9 |
External diameter (mm) | 130 |
Minimum length (mm) | 390 |
Maximum length (mm) | 680 |
Components | |
Port valve | MSHRP3 (MISUMI Corporation) |
Regulator | ITV10J1-211L (SMC Corporation) |
Pipe diameter (mm) | 6 |