|Table 1. Informed Specifications| |——-|
| Parameter Old | Value Range Old | Unit | Informed Value | Current Value | Reference |
|---|---|---|---|---|---|
| Length of Whole body | 175 | mm | Length of Top Bar | 180 | [1] |
| Mass of Whole body | 100 | g | Mass of Structure | 45 | [1] |
| Mass of the Jaw | 2 | g | Mass of 4 Bar Mechanism | 12.8 | [1] |
| Jaw Reaching Distance | 30-40 | mm | Reaching Distance | 70 | [2] |
| Time to reach prey | 28-40 | ms | Time of End Effector Max Reach | 40 | [2] |
| Time to Jaw Retraction | 102-120 | ms | Time for Retraction | 500 | [2] |
| Max Protrusion Velocity | 1.86-2.76 | m/s | Max Velocity | 0.6425 | [2] |
| Max Protrusion Acceleration | 67.4-155 | m/sec^2 | Acceleration | 0.257 | [2] |
| Mass of movable object | 20 | g | End Effector Grasp Force | Unknown | [12] |