摘要：The paper presents the manner of determination of forces that act on a workpiece grasped by a pneumatically driven robotic gripper. The starting point consists of experimental determination of the pushing force necessary to move the workpiece held between the gripper's fin-gers. Then, by using theoretical relations, the friction force between the workpiece and the fingers, and the prehension force (also called grip-ping force) are computed, for different values of the pneumatic driving system pressure.
