Aiming at the problems of complex structure of mechanical gripper based on passive force control and limited assembling of mechanical gripper based on active force control with force sensor

a control method of mechanical gripper without force sensor is put forward.Firstly

adopting the kineto-statics duality concept of closed-chain structural mechanical gripper to compute the torque of driving joint.Secondly

design disturbed torque observer of driving joint based on generalized momentum to estimate disturbed torque.Then use the principle of virtual displacement to establish the relationship between disturbed torque of driving joint and gripping force

and correctness of estimated gripping force is verified with simulation.Finally

control simulation use the method of velocity control switching to force control

force control of mechanical gripper with low oscillation and only one collision without force sensor is realized.