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Table 9 Continuous unloading experiment results

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

No.NotationDifference in height (mm)Series operation time (s)Expansion operation
Time (s)Occupancy rate (%)
1D-115.95.534.7
2C-512.35.342.9
3C-412.45.242.3
4B-5, B-4014.65.336.3
5B-3, C-54513.15.239.7
6C-613.95.237.5
7C-212.95.340.5
8C-314.85.335.4
9B-214.35.236.5
10B-114.25.336.9
11A-2, A-3013.35.239.4
12A-112.45.242.2
13A-414.95.235.2