外观
论文arXiv 2609.128831 个月前
从运输到操作：在磁机器人中实现抓取
原文链接：From Transportation to Manipulation: Enabling Grasping in Magnetic Robotics（arXiv 2609.12883 · 发布日期：2026-09-11）
From Transportation to Manipulation: Enabling Grasping in Magnetic Robotics
为拓展MagLev系统从运输到抓取操作，提出带1-DoF夹爪的低成本并联6-DoF Gripper MagBot，并在仿真和真机取放中验证。
核心要点
- 现有MagLev应用几乎只关注运输，操作能力尚未充分利用。
- Gripper MagBot机械耦合三个MagLev movers，并集成1-DoF夹爪。
- 支持默认与单轨两种配置，可按稳定性和工作空间占用选择。
- 仿真与真实Gripper MagBot均展示取放，资料和视频已公开。
验证范围与局限：验证范围为仿真及真实Gripper MagBot上的取放示例。
英文摘要 (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.
作者：Lara Bergmann, Noah Greis, Cedric Grothues, Lisa-Marie Weigelt, Klaus Neumann
来源
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