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

Table 2

Material parameters of the brake.

Name	Numerical value	Unit
The inner surface radius of the drum-shaped airbag	14.5	mm
The outer surface radius of the drum-shaped airbag	17	mm
Height from the center of the airbag to the upper surfaces of its inner chamber	4	mm
Height from the center of the airbag to the lower surfaces of its inner chamber	8	mm
The outer surface radius of the friction plate	20	mm
The inner surface radius of the friction plate	15	mm
Wrap angle of the friction plate	85	°
The inner surface radius of the ball seat	20.1	mm