Robotic gripper circuiot problems

[mh5594]

Robotic gripper

I need some ideas on how to solve these problems;

I have 5 identical motors running independantly in the gripper. Each one of them has a slightly different internal resistance and therefore pulls a different current.

My main problems are either the motor losing power or overheating, this is due to the motors not pulling an equal current. I think the problem might also stem from the very small H bridges that I am using to drive each of the motors.

What I am interested in knowing is if there are any novel solutions to minimise and control the mechanical friction, and also to minimise any voltage drops. Ideally I am looking for a situation where the force of each motor in the gripper is exactly proortional to the current. Also that the force and the current could be read accurately from a powerprofile for each of the motors.

Do you think I would see an improvement if I used a thermagel heat dissipation strip attached to the H bridges?

Any ideas would be appreciated.

 

[Bob S]

You didn't state the Vcc voltage, the H-bridges, and the motor current you are using. Most H-bridges are relatively inefficient below ~6 volts; 12 volts is better. Are you using PWM (pulse width modulation) to control motor current? The automotive industry has made 12 volts a standard for H-bridge efficiency and performance design. Are any of your H-bridges too hot to touch? If yes then heatsink it to metal with thermally conductive compound.
Bob S

 

[oswaler]

One potential solution to your problem could be to implement a closed-loop control system for your gripper motors. This would involve using sensors to monitor the current and force of each motor and adjusting the power supply accordingly to ensure equal current and force distribution. This could also help prevent overheating by automatically adjusting the power supply to each motor as needed.

Another option could be to use motors with more uniform internal resistance, or to calibrate the current settings for each individual motor to ensure they are all pulling the same amount of current. This could help reduce the discrepancies in current and minimize voltage drops.

Using a thermagel heat dissipation strip may also be beneficial in reducing overheating, but it would be important to carefully monitor the temperature and make sure it does not negatively affect the performance of the motors.

Overall, it may be helpful to consult with a robotics expert or engineer to find the most effective solution for your specific gripper circuit problems. They may have additional insights or suggestions based on their experience and knowledge in this field.