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Table 7 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

–

14.7

5.4

36.6

2

C-5

–

12.8

5.3

41.8

3

C-4

–

12.6

5.4

42.8

4

B-5, C-6

20

14.3

5.3

37.4

5

B-4

–

14.0

5.4

38.5

6

B-3

–

13.8

5.3

38.7

7

C-1, C-2

0

13.3

5.4

40.6

8

C-3

–

14.6

5.4

37.1

9

B-1, B-2

0

14.4

5.3

36.9

10

A-2, A-3

0

13.4

5.4

40.1

11

A-1

–

13.0

5.4

41.3

12

A-4

–

14.3

5.4

37.6