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Control Systems

The document discusses a pneumatic pick and place industrial gripper that operates using compressed air and solenoid valves in an open-loop system. It outlines the assumptions, equations governing the system dynamics, and the relationship between air pressure, gripping force, and finger motion. Additionally, it mentions the representation of the system in MATLAB for simulation purposes.

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Rishika Ravishankar
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2 views4 pages

Control Systems

The document discusses a pneumatic pick and place industrial gripper that operates using compressed air and solenoid valves in an open-loop system. It outlines the assumptions, equations governing the system dynamics, and the relationship between air pressure, gripping force, and finger motion. Additionally, it mentions the representation of the system in MATLAB for simulation purposes.

Uploaded by

Rishika Ravishankar
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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Control Systems

BMHA312L
Rishika R
23BMH1050
C1+TC1

Pneumatic Pick and Place Industrial Gripper

Introduction

A pneumatic gripper relies on compressed air to control its


opening and closing, often using solenoid valves to regulate
airflow. In an open-loop system, there is no feedback; the valve
opens or closes purely based on the input voltage.
A pneumatic gripper is a type of robotic actuator that closes
and opens using compressed air. Since it’s an open-loop
system, the gripping force is not adjusted dynamically based on
feedback—it simply follows a predefined actuation sequence.
 A solenoid valve controls airflow into a pneumatic cylinder.
 The cylinder applies force to move the gripper fingers.
 Once pressurized, the fingers close with a fixed force
based on air pressure.
 After a set time, the air is released, and the gripper opens.

Assumptions
 The actuator (pneumatic cylinder) applies force to move
the movable jaw while the fixed jaw remains stationary.
 The system can be approximated as a second-order mass-
spring-damper system.
 The input is the pressure applied to the pneumatic
cylinder.
 The output is the jaw displacement.

Equations
1. Air Flow Dynamics (Pneumatic System Model):
The force exerted by the pneumatic gripper is proportional to
the air pressure and piston area:
F=PA
where:
 F = Gripping force (N)
 P = Air pressure inside the cylinder (Pa)
 A= Piston cross-sectional area (m²)

Airflow into the actuator follows the first-order system


dynamics due to compressibility effects:

Τ(dP/dt) + P= KuV

where:
 Τ=Time constant (s)
 Ku= Gain factor related to valve coefficient
 V = Input control signal (voltage to solenoid valve)

2. Gripper Finger Motion (Pneumatic Actuator Dynamics)


Applying Newton’s second law to the moving fingers:
M (dt2 / d2x) + B (dt/dx) + K (x) = F
where:
 x= Gripper finger displacement (m)
 M = Mass of the moving gripper components (kg)
 B= Damping coefficient (N·s/m)
 K= Spring stiffness (N/m)
 F = Pneumatic force from air pressure (N)

Taking the Laplace Transform:

Ms2X(s) + BsX(s) + KX(s) = F(s)

Solving for X(s):

Since F(s)=P(s) A, we substitute:

Now, combining with the air pressure dynamics equation:

Block Diagram:
In MATLAB, this can be represented as:
G(s) = Gvalve (s) X Gpneumatic (s)

Simulation Result

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