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Table 3 Model parameters of pneumatic finger cylinder servo system

From: Medical Grabbing Servo System with Friction Compensation Based on the Differential Evolution Algorithm

Parameter Value
ML(kg) 0.31
\(m\) 1.08507
\(n\) 1.085
\(\kappa\) 1.4
pe (Pa) 1.013 × 105
Aa(m2) 1.809 × 10−3
\(V_{{{\text{0a}}}}\)(m3) 9.624 × 10−6
\(A_{{\text{b}}}\)(m2) 1.963 × 10−3
\(V_{{{\text{0b}}}}\)(m3) 1.044 × 10−5
\(P_{{{\text{0a}}}}\)(MPa) 0.3333
\(k_{1 }\)\(\left( {{\text{kg/}}\left( {{\text{m}} \cdot {\text{s}}} \right)} \right)\) 17.4053949
\(k_{2 }\)\(\left( {{\text{kg/}}\left( {{\text{m}} \cdot {\text{s}}} \right)} \right)\) 9.74367 × 10−11
\(c_{{0}}\) 0.528
\(R\)(J/(kg·K)) 287.13
Ts (K) 293
\(C\) 0.68