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Table 6 Continuous unloading experiment results â‘ 

From: Suction pad unit using a bellows pneumatic actuator as a support mechanism for an end effector of depalletizing robots

No.

Notation

Difference in height (mm)

Series operation time (s)

Expansion operation

Time (s)

Occupancy rate (%)

1

D-1

–

13.7

5.4

39.1

2

C-4

–

12.3

5.4

43.6

3

C-5

–

12.9

5.3

41.6

4

B-5, C-6

20

14.2

5.4

38.1

5

B-4

–

14.3

5.3

37.3

6

B-3

–

16.2

5.4

33.5

7

C-1, C-2

0

13.5

5.3

39.7

8

C-3

–

15.2

5.4

35.5

9

B-1, B-2

0

14.5

5.3

36.9

10

A-3

–

13.1

5.3

40.1

11

A-1, A-2

0

12.9

5.3

41.0

12

A-4

–

14.8

5.2

35.4