Proceedings of the Faculty of Technical Sciences

Mechatronics

Vol. 41 No. 07 (2026): Proceedings of the Faculty of Technical Sciences

Grip Force Regulation in the Manipulation of Objects with Different Characteristic Using a Soft Robotic Gripper

  • Momir Ćirković
DOI:
https://doi.org/10.24867/35IH02Cirkovic
Submitted
July 9, 2026
Published
2026-07-15

Abstract

The thesis focuses on the development and control of a soft pneumatic gripper for handling objects with different characteristics. Selected components include force sensors (FSR), a programmable logic controller, the pneumatic gripper itself, and other system elements, which are presented through electric and pneumatic schematics. The sensors provide feedback to the proportional-integral-derivative (PID) pressure regulator, which achieves the desired grip force, and testing confirmed the functionality and applicability of the system in industrial environments.

References

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