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

Table 2

Structural parameters of the actuator.

Parameter	Numerical value	Unit
The silicone tube radius	10	mm
The silicone tube initial wall thickness	2	mm
The silicone tube elastic modulus	1.116	MPa
The distance between the silicone tube and the central shaft axes	35	mm
The initial effective actuator deformation arc length	100	mm
The total effective actuator deformation arc length	110	mm
The actuator height	56	mm
The initial angle of the actuator	180	°