Remotely adjustable robotic grip force for the network-based assembly automation

In the past two decades, robotic assembly has evolved into a part of fully automated, networked production systems that are monitored and controlled from a remotely located central site. Unfortunately, a robotic gripper with a force feedback capability, which can be operated reliably over the Internet under the traffic delay, has not been properly addressed. This study presents a new gripper design of which control model relates the commanded voltage set point in a client computer to the corresponding grip force measured by a server computer. A prototype was developed, and the tests were conducted. The experimental results indicated that the gripper was able to apply and maintain a correct magnitude of grip force according to the types of parts being handled. The feedback control algorithms maintain a grip force at a required level even when the network delay is present. The developed gripper has a great potential for improving the efficiency of the networked, automatic production systems where a frequent changeover is prevalent.