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Table 9 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

–

15.9

5.5

34.7

2

C-5

–

12.3

5.3

42.9

3

C-4

–

12.4

5.2

42.3

4

B-5, B-4

0

14.6

5.3

36.3

5

B-3, C-5

45

13.1

5.2

39.7

6

C-6

–

13.9

5.2

37.5

7

C-2

–

12.9

5.3

40.5

8

C-3

–

14.8

5.3

35.4

9

B-2

–

14.3

5.2

36.5

10

B-1

–

14.2

5.3

36.9

11

A-2, A-3

0

13.3

5.2

39.4

12

A-1

–

12.4

5.2

42.2

13

A-4

–

14.9

5.2

35.2