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Design Specifications
| Performance Specifications of IREP grippers | |||
|---|---|---|---|
| Workspace | Speed | Load cap | Precision |
| 50×50×60 | 30mm/s,60°/s | 2N, 60mNm | ±0.25mm, ±l° |
| Actuation Unit Design Specifications | |||
| Travel | Speed | Load | |
| Insertion | ±50mm | 60mm/s | 300N |
| Parallelogram | ±5 mm | 5mm/s | 100N |
| Camera | ±5mm | 5mm/s | 20N |
| Actuation Unit of Snake Module | |||
| Travel | Speed | Load | |
| Snake | ±8mm | 30mm/s | 60N |
| Wrist | ±5mm | 5mm/s | 30N |
| Gripper | ±5mm | 5mm/s | 20N |
