. Author manuscript; available in PMC: 2014 Oct 1.

Published in final edited form as: IEEE ASME Trans Mechatron. 2013 Oct:1612–1624. doi: 10.1109/TMECH.2012.2209671

TABLE V.

Rated Specification of Actuation Components of IREP Actuation Unit

	Parallelogram	Snake segments	Wrist/gripper	Central stem Insertion
Screw Lead (mm)	1	6.35	1.27	2
Max Force (N)	550	81	236	192
Max speed (mm/s)	4.6	29	5.83	9.2