Control of a Robot Gripper Through Pulsation of a Pneumatic Servo-Valve
Original Publication Date: 1985-Sep-01
Included in the Prior Art Database: 2005-Feb-19
Providing a pneumatic servo-valve with a number of pulse activations is an effective and easily controllable technique for achieving controlled grasping force in a robot gripper. Pneumatic grippers are attractive in robotics due to the high force-to-weight ratio provided. This decreases the inertial load seen by the robot, hence increasing the acceleration and speed capabilities. However, in order to control grasping forces, the opening and closing of the gripper must somehow be controlled. The figure shows a pneumatic parallel-fingers gripper. In a typical control feedback system, a servo-amplifier is used to create an analog signal necessary to drive the servo-valve. This amplifier, however, costs several hundred dollars and thus the cost of the system is greatly increased.