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Fig. 6 | ROBOMECH Journal

Fig. 6

From: A vacuum-driven rubber-band gripper

Fig. 6

Relationship between the contraction force and difference between the inside air pressure when the actuator is fixed to the instrument and that at measurement (− 75 kPa). The contraction force was almost proportional to the differential air pressure. The steep increase over − 70 kPa could be attributed to the change in the cross-sectional area by dents on the surface of the actuator

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