Table 2.

Mechanical specifications of the ISA v2, v5 and smart manifold for rotary actuator.

Actuator Property	ISA v2	ISA v5	Smart manifold(custom made)
Cylinder bore diameter (linear)	16 mm	21.5 mm	-
Rod diameter (linear)	12 mm	12 mm	-
Length (retracted – linear)	235 mm	299 mm	-
Vol. displacement (rotary)	-	-	0.15 cc/deg
Total stroke	80 mm	100 mm	100 deg
Dry weight	920 g	1,600 g	2,100 g
Stall load	4,000 N	7,500 N	170 Nm
Operating pressure	20.7 MPa	20.7 MPa	20.7 MPa
Operating temperature	[−30 + 80] °C	[−30 + 80] °C	[−30 + 80] °C
Valve spool feedback	Electric	Electric	Mechanic