从运输到操控：实现磁悬浮机器人的抓取
From Transportation to Manipulation: Enabling Grasping in Magnetic Robotics
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中文总结 AI 辅助
本文提出Gripper MagBot，一种低成本并联6自由度磁悬浮机械臂，集成1自由度夹爪，实现磁悬浮系统上的直接抓取与操控，支持两种配置，并通过仿真和实物验证了拾取放置能力。
中文摘要 AI 辅助
磁悬浮（MagLev）系统因其可扩展性和灵活性，在高混合、低批量制造中具有巨大应用潜力，能够实现高度可重构的机内物料流动。然而，其操控能力在很大程度上尚未被开发，因为当前应用几乎完全集中在运输上。为了直接在MagLev系统上实现抓取和操控，而无需额外昂贵的处理设备（如工业机器人臂），我们提出了Gripper MagBot，一种低成本并联6自由度机械臂，集成1自由度夹爪，机械耦合三个MagLev动子。Gripper MagBot支持两种操作配置：默认模式和单轨模式，可根据所需的稳定性和工作空间足迹进行选择。为了重新配置机器，MagBot可以通过对接站自主投放和拾取。我们在仿真中展示了拾取和放置示例，并使用我们的逆运动学控制器在真实Gripper MagBot上进行了演示。CAD文件、装配说明、组件列表和视频可在以下网址获取：此https URL。
英文摘要
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.
发表机构
- Bielefeld University（比勒费尔德大学）
- Fraunhofer IOSB-INA（弗劳恩霍夫IOSB-INA研究所）
机构由 AI 辅助整理，请以论文原文为准。
