Table 2.

Robot Main Characteristics and Performance

Characteristics	Values
Generated maximum axial force	5/6 kg
Generated maximum axial pressure	37 kPa
Minimum bending radius	100 mm
Maximum bending speed	1.28°/min
One-layer deposition time	18 s
Layer thickness	0.55–1.2 mm
Growing speed	1.8–4 mm/min
Extrusion temperature	180–200°C
Power consumption	∼14 W
Growing unit weight	105 g