Study on the Structure and Performance of an Antagonistic Pneumatic Bidirectional Rotary Joint

Table 1

Sensor specifications.

Name	Model	Rated range	Accuracy
Air pressure sensor	ISE20-P-M-M5	−0.1–1.0 MPa	0.001 MPa
Six-axis force sensor	WEF-6A200-4-RC5-A	Fx, Fy, Fz: 200 N; Mx, My, Mz: 4 Nm	Transverse sensitivity below 5% F.S
Rotation angle sensor	HWT101DT	Angle: ±180°; Angular velocity: ±2000°/s	0.05°
Load sensor	XJH-10	10–200 kg	±0.5% F.S