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.