磁気浮上システムに把持機能を統合したGripper MagBot
From Transportation to Manipulation: Enabling Grasping in Magnetic Robotics
磁気浮上搬送システム上で把持・操作を可能にするため、3つのMagLevムーバを機械的に結合した低コスト6自由度パラレルマニピュレータと1自由度グリッパを提案し、ピックアンドプレースを実証した。
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著者: Lara Bergmann, Noah Greis, Cedric Grothues, Lisa-Marie Weigelt, Klaus Neumann
分類: cs.RO
原文アブストラクト
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.