Force Control of an Electro-Hydraulic Servo-Driven Underactuated Robotic Gripper

Underactuated robotic grippers, characterized by their simple structure and excellent environmental adaptability, demonstrate significant application potential across multiple domains including industrial automation and manufacturing, agricultural and food processing, search-and-rescue operations in extreme environments, as well as military and security applications.To achieve high power density, rapid dynamic response, and precision grasping performance, this study presents a novel electro-hydraulic servo-driven underactuated gripper design. The mathematical framework is established through parameter coupling across multiple models: Include flow model、 mass conservation model、force dynamics model and grasping force calculation model. Through comprehensive numerical simulations, the proposed PID control scheme has been verified to effectively satisfy the operational requirements for stable and adaptive underactuated grasping tasks. The controller demonstrates robust performance in maintaining desired grasping forces while accommodating object variations and environmental uncertainties.