将磁悬浮从运输升级为操作，实现毫米级精准机械臂控制。
From Transportation to Manipulation: Transforming Magnetic Levitation to Magnetic Robotics
- 设计双移动体耦合的六自由度磁悬浮机械平台，支持复合运动。
- 定位精度达亚毫米级，可自动完成抓取与放置操作。
- 适合高混合小批量制造场景，提升产线灵活性与效率。
磁悬浮系统显著提升了工业自动化中物料在机内的流动灵活性，有助于动态优化吞吐量，尤其适用于多品种小批量生产。目前磁悬浮主要应用于物料运输，其操作潜力尚未充分挖掘。本文提出6D-Platform MagBot，一种低成本六自由度并联构型磁悬浮机器人平台，通过两个移动体耦合形成复合操作平台。实验表明，该平台定位精度达亚毫米级，可通过对接站实现完全自主的抓取与放置，支持快速重复配置。相比单移动体，该平台显著扩大了可达工作空间、承载能力与功能灵活性。通过融合运输与操作功能，本工作推动磁悬浮向磁机器人演进，为制造系统提供更敏捷、高效、适应性强的解决方案。
原文摘要 · Abstract (English)
Magnetic Levitation (MagLev) systems fundamentally increase the flexibility of in-machine material flow in industrial automation. Therefore, these systems enable dynamic throughput optimization, which is especially beneficial for high-mix low-volume manufacturing. Until now, MagLev installations have been used primarily for in-machine transport, while their potential for manipulation is largely unexplored. This paper introduces the 6D-Platform MagBot, a low-cost six degrees of freedom parallel kinematic that couples two movers into a composite robotic platform. Experiments show that the 6D-Platform MagBot achieves sub-millimeter positioning accuracy and supports fully autonomous pick up and drop off via a docking station, allowing rapid and repeatable reconfiguration of the machine. Relative to a single mover, the proposed platform substantially expands the reachable workspace, payload, and functional dexterity. By unifying transportation and manipulation, this work advances Magnetic Levitation towards Magnetic Robotics, enabling manufacturing solutions that are more agile, efficient, and adaptable.
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