From Transportation to Manipulation: Enabling Grasping in Magnetic Robotics

2026-09-11

AI Summary

为解决磁悬浮系统在物料搬运中的局限，研究提出Gripper MagBot，一种低成本6自由度并联机械手，实现直接抓取和操作。

Abstract

Magnetic levitation (MagLev) systems have great potential for application in high-mix, low-volume manufacturing due to their scalability and flexibility, enabling highly reconfigurable in-machine material flow. However, their manipulation capabilities remain largely unexploited, as current applications almost exclusively focus on transportation. To enable grasping and manipulation directly on MagLev systems without requiring additional costly handling equipment, such as industrial robot arms, we present the Gripper MagBot, a low-cost parallel 6-DoF manipulator with an integrated 1-DoF gripper that mechanically couples three MagLev movers. The Gripper MagBot supports two operating configurations: a default mode and a single-track mode, selectable depending on the required stability and workspace footprint. To reconfigure a machine, the MagBot can be autonomously dropped off and picked up using a docking station. We showcase pick-and-place examples in simulation, as well as with the real Gripper MagBot using our inverse kinematics controller. CAD files, assembly instructions, a component list, and videos are available at https://sites.google.com/view/gripper-magbot.

Problem

• Magnetic Levitation
• Manipulation
• Grasping
• High-mix Low-volume Manufacturing

Innovation

• Magnetic Levitation
• Manipulation
• Gripper MagBot
• 6-DoF Manipulator
• Autonomous Docking