Table 4 Second 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 mechanism

 Weight (kg)

4.9

 External diameter (mm)

130

 Minimum length (mm)

390

 Maximum length (mm)

680

Components

 Port valve

MSHRP3 (MISUMI Corporation)

 Regulator

ITV10J1-211L (SMC Corporation)

 Pipe diameter (mm)

6