Till now, the gripping force control has been studied in theory and laboratory, but there are many problems in application to real system. The reason is that gripping force be adequately adjusted depending upon geometry and material properties of the workpiece and gripper mechanism.
So in this thesis, for application to gripper, the force feedback control system is developed using pneumatic linear actuator, on-off solenoid valve and on-off controller & electronic relay and the force sensor signal is feedback signal to on-off controller, so that overall system is closed loop system. In this servo system, force accuracy, gripping time and system stability are considerably important.
Thus, these gripping characteristics are experimentally analyzed for various design parameters which are as follows, area of orifice installed in each side of actuating cylinder, desired force value, size of work-piece. In the analysis, because of system nonlinearity, the experimental result decides the relative value of parameter and boundary of values.
