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SoRo Test (Stress Strain Relationship for Bladder and Actuator (Actuator (…
SoRo Test
Stress Strain Relationship for Bladder and Actuator
Bladder
Stress-strain curve (lamda-pressure)
:check:Theoretical data
:check:Actual data
Actuator
:red_flag:Stress-Strain Curve(Lamda- Pressure)
:red_flag: Actual data
:red_flag:Theoretical data
:red_flag:Pressure-Volume curve
data from FR VS DP
Flow rate& Differential pressure
"Motors" to actuator
Actuator Pressure:point to point
Peak to valley
Outlet: Flow rate Vs Pressure(A)-Pressure(B)
:red_flag:Actual data
:check:Theoretical data
Valley to peak
Inlet: Flow rate Vs Pressure(B)-Pressure(A)
:red_flag:Actual data
:check:Theoretical data
Actuator Pressure: Sinusoidal Function with fixed frequency
Setting
Inlet loop bladder range from 13 to 5 psi
Frequency: 0.02Hz
Outlet bladder range: from -5 to -13 psi
Data collection
Outlet loop: 1.Pump status, 2.flow rate, 3.bladder pressure
Inlet loop:4. Pump status,5. flow rate, 6.bladder pressure
7.Actuator pressure
Figure
:red_flag:Actual data
:!?:Theoretical data
Response Time
Wrist & gripper test