Study on Structure Design and Motion Characteristics of Pneumatic Flexible Wrist with Braking Function

Table 1

Material parameters of the artificial muscle.

Name	Numerical value	Unit
The inner diameter of the silicone tube	12	mm
The outer diameter of the silicone tube	16	mm
Elastic modulus of silicone tube	1.116	MPa
Effective deformation length of artificial muscle	100	mm
Middle diameter of the spring	16.75	mm
Spring wire diameter	1.5	mm
The pitch of spring	2.5	mm
The spring elastic modulus	202	MPa