OutputtorqueofYSspringreturnactuatorOutputTorqueofAirsupplyOutputtorqueofspring（bar）34567ModelSpringQuantity090090090090090090StartEndStartEndStartEndStartEndStartEndStartEndYS02067.684.9811.849.144.87.5810.346.7414.510.96.39.9108.744.2412.98.417.0612.567.912.41211.35.915.4610.0619.6214.229.514.9YS035613.5920.816.328.123.78.512.958181225.319.332.626.611.317.31015.37.722.61529.922.337.229.61421.61219.710.7271834.325.316.925.9YS050621.114.332.8268281939.830.819281023.31235.123.846.835.558.647.323.7351230.416.842.128.553.940.328.442YS075628.119.543.334.617.3926837.425.952.641.123.234.71031.617.246.832.46247.677.162.72943.4124123.756.238.871.35434.7852.08YS110640.726.963.549.727.541.3854.335.97758.699.781.336.755.11045.222.267.944.990.667.65113.490.445.868.81258.731.381.453.8104.276.65582.6YS160661.94296.97739.959.8883.757.1116.69053.179.71070.437.2103.370.1137.3104171.213866.499.6129050.2123.984.1157.9118.179.7119.5YS2556103.670.6161.9128.971.3104.38138.294.2196.5152.59513910114.459.4172.7117.7231176118.8173.81214983207.3141.3265.6199.6142.5208.5YS4356157104.8244.8192.6106.2158.48209.4139.8297.1227.5141.6211.21017487261.7174.7349.4262.4437.8350.117726412226.3121.9314209.6401.8297.4212.4316.8YS6656237.3156.2371289.9163.8244.98182.774.6316.4208.3450.1341.9218.4326.510261.8126.7395.5260.4529.2394.1273408.112340.9178.8474.6312.5608.3446.2327.6489.7YS10006385.5255.2601470.7260.9391.28514340.3729.5555.8347.9521.610427.1209.9642.6425.4858.1640.91073.6856.4434.865212555.6295771.1510.5986.6726521.8782.4YS12006529.8351.1825.9647.2358.6537.38706.4468.11002.5764.2478.1716.410586.9289883585.11179.1881.21475.21177.3597.6895.512