Halbach Array Collaborative Robot End Effector for Advanced Handling of Magnetic Materials

Handling of magnetic materials using robots is currently limited to end effectors that grasp using only compressive force, which can be problematic for unusually shaped objects, low energy conditions, or sensitive materials. An end effector designed for a ubiquitous collaborative robot, capable of handling them with magnetic force rather than compressive force, would prove to be intrinsic in the development of enhanced magnetic capabilities, especially for additive manufacturing. This work details the design of an actuatable pair of linear Halbach arrays on a parallel end effector of a collaborative robot as well as integrated coils and torque sensors to determine the magnetic moment of a material.