A study of force control of a miniature gripper

A theoretical and experimental implementation of the dynamic of the dynamic force control of a miniature gripping mechanism driven by piezoelectric bimorph cell is describec. To investigate in case of gripping a tiny object with fingers then holding it with the minute commanded force even if the object is in motion. One finger of the miniature gripper modeled by a flexible by a flexible cantilever with a force sensor is attached to its force end. A fare of piezoelectric bimorph cells are glued to both sides of the stepped beam with two uniform section. In the analysis, the PID control scheme is introduced to drived finger so that finger tip produces 0.03N. Theoretical and experimental results for several cases illustrate commanded force-actural force and response time relationshipe.