Actuator and platform testing

Along with the fabrication phase, the performance of the pneumatic actuators was tested, as well as the real behavior of the "Stewart platform"-like section of the manipulator.

The initial test conducted on a 5cm long actuator showed that a maximum extension of 47% (2.35cm) could be obtained when a pressure of 0.3 bars is applied. If the cavity pressure increases further, the actuator deforms radially. It is then important to operate the actuator inside the pressure range of 0 – 0.3 bars.

A preliminary test of the real behavior of the pneumatic based Stewart platform was conducted. This test was done without the cable actuators.