Table 1 First prototype model specifications

One bellows

 Hardness

50

 Internal/external diameter (mm)

20/35

 Natural length (mm)

195

 Minimum length (mm)

90

 Maximum length (mm)

280

 Rubber material

Chloroprene rubber

Entire device

 Set pressure (kPa)

20

 Weight (g)

1552

 External diameter (mm)

130

 Minimum length (mm)

210

 Maximum length (mm)

390

 Radius of curvature (mm)

169

Components

 Port valve

MSHRP3 (MISUMI Corporation)

 Regulator

ITV10J1-211L (SMC Corporation)

 Pipe diameter (mm)

6