Table 1 Comparison of the properties of one- and two-part polyurethane foam
From: Active modification of the environment by a robot with construction abilities
| Â | One-part | Two-part |
|---|---|---|
| Â | polyurethane | polyurethane |
|  | (ATF-504) | (HYPER ♯ 30) |
Surface curing time [min] | 10-15 | 0.5-1 |
Sufficient curing time | 60 | 2 |
to support robot | Â | Â |
climbing [min] | Â | Â |
Complete curing time | 18 hours | 5-10 min |
Optimal temperature [°C] | 5-50 | 5-50 |
Optimal humidity [%] | 40-70 | N/A |
Expansion ratio | 1.3-1.8 | 1.5-2 |
| Â | (from 1-60 min later) | Â |
Density (when fully | 0.025 | 0.03 |
expanded) [g/cm3] | Â | Â |
Compressive strength [N/cm2] | 4-6 | 17.2 |
Pulling strength [N/cm2] | 9-11 | 26.4 |
Adhesion force [kg/cm2] | 1 | N/A |
Thermal conductivity [W/mK] | 0.030 | 0.023 |