Various embodiments relate to magnetically moveable displacement devices or robotic devices. Particular embodiments provide systems and corresponding methods for magnetically moving multiple movable robots relative to one or more working surfaces of respective one or more work bodies, and for moving robots between the one or more work bodies via transfer devices. Robots can carry one or more objects among different locations, manipulate carried objects, and/or interact with their surroundings for particular functionality including but not limited to assembly, packaging, inspection, 3D printing, test, laboratory automation, etc. A mechanical link may be mounted on planar motion units such as said robots.

A robot hand apparatus includes a holder having a bendable sucking surface that sucks an object; a magnetic elastic body arranged at the holder and formed of an elastic material containing magnetic particles; and a magnetic-field generator that is arranged at the holder and applies a magnetic field to the magnetic elastic body to change a coefficient of elasticity of the magnetic elastic body. When the magnetic-field generator applies a magnetic field to the magnetic elastic body, a flexible portion and a hardened portion having a bigger coefficient of elasticity than that of the flexible portion are formed in the magnetic elastic body. When the holder holds the object, in a state in which the sucking surface is bent at a position corresponding to the flexible portion, a region of the sucking surface between the position and a distal end of the holder sucks the object.

A gripper device (16; 30; 56; 90; 120) which is designed so as to be movable along a movement path, and which serves for grasping and holding a workpiece (70) and for moving the workpiece along the movement path, with at least one first contact section (18; 38; 66) which, to produce an operative pairing with the workpiece that effects the gripping or holding action, can be driven relative to a second contact section (20; 40; 68), which first contact section is assigned actuator means (22; 44; 54; 128), which are designed to exert a drive force in reaction to the application of a magnetic field, and which are composed of a magnetic shape-memory alloy material, wherein the actuator means for magnetic interaction are formed, for the application of a magnetic field, with magnetic field generating means that are static at one position of the movement path (52; 80; 86; 88), and/or with magnetic field generating means that are provided so as to be movable independently of the gripper device.

Various embodiments relate to magnetically moveable displacement devices or robotic devices. Particular embodiments provide systems and corresponding methods for magnetically moving multiple movable robots relative to one or more working surfaces of respective one or more work bodies, and for moving robots between the one or more work bodies via transfer devices. Robots can carry one or more objects among different locations, manipulate carried objects, and/or interact with their surroundings for particular functionality including but not limited to assembly, packaging, inspection, 3D printing, test, laboratory automation, etc. A mechanical link may be mounted on planar motion units such as said robots.

A robot hand includes a plurality of fingers, a first electromagnet, a second electromagnet, and a movable part configured to be movable between the first electromagnet and the second electromagnet. Each of the plurality of fingers includes a gripping part configured to grip an object, a cam follower configured to rotate around a rotating shaft in accordance with movement of the movable part.

A magnetic pouch clamp assembly includes a first clamping arm having a first clamping surface, and a second clamping arm having a second clamping surface opposed to the first clamping surface, wherein the first clamping arm and the second clamping arm are slidably connected together for relative movement between an open position and a closed position, the first and second clamping surfaces being spaced apart in the open position and the first and second clamping surfaces being engaged in the closed position. A magnet assembly includes first and second magnets configured and oriented such that a closing attractive force therebetween holds the first and second clamping arms in the closed position. A mechanical latching assembly configured to releasably hold the first and second clamping arms in the open position.

The present invention will provide a device in which the gripping action is achieved by a compliant membrane manipulated by electromagnetic forces. The gripping force provided by the present invention is best suited for delicate objects, as it gently applies the gripping force necessary for displacement. This is accomplished through a chamber, a membrane, a plunger attached to the membrane, and a solenoid configured to manipulate the plunger, and thus, the membrane.

A force feedback gripping device employs a mechanical gripper (23), an electromagnetic actuator (22) and a force feedback controller (21). The mechanical gripper (23) is operable to be actuated to one of a plurality of gripping poses for gripping an object. The electromagnetic actuator (22) includes a magnetorheological elastomer (MRE), wherein the MRE is operable to be transitioned between a plurality of shapes dependent upon a variable strength of a magnetic field applied to the MRE, and wherein each shape of the MRE actuates the mechanical gripper (23) to one of the gripping poses. The force feedback controller (21) is operable to control the variable strength of the magnetic field applied to the MRE based on an estimation of a gripping force of the mechanical gripper (23) and on a sensing of a load force of the object responsive to the gripping force of the mechanical gripper (23).

A robot assembly for transporting a substrate is presented. The robot assembly having a first arm and a second arm supported by a column, the first arm further having a first limb, the first limb having a first set of revolute joint/line pairs configured to provide translation and rotation of the distal most link of the first limb in the horizontal plane. The assembly further having a second arm further having a second limb, the second limb comprising a second set of revolute joint/link pairs configured to provide translation and rotation of a distalmost link of the second limb in the horizontal plane. The first limb and second limb further having proximal revolute joints having a common vertical axis of rotation and a proximal inner joint housed in a common housing. The assembly further having an actuator assembly coupled to the first set of revolute joint/link pairs and to the second set of revolute joint/link pairs to effect rotation and translation of the distalmost links of the first limb and the second limb, each of the first limb and the second limb defining, in conjunction with the actuator assembly, at least three degrees of freedom per limb, whereby the distalmost links of the first limb and the second limb are independently horizontally translatable for extension and retraction.

A robot hand apparatus includes a holder having a bendable sucking surface that sucks an object; a magnetic elastic body arranged at the holder and formed of an elastic material containing magnetic particles; and a magnetic-field generator that is arranged at the holder and applies a magnetic field to the magnetic elastic body to change a coefficient of elasticity of the magnetic elastic body. When the magnetic-field generator applies a magnetic field to the magnetic elastic body, a flexible portion and a hardened portion having a bigger coefficient of elasticity than that of the flexible portion are formed in the magnetic elastic body. When the holder holds the object, in a state in which the sucking surface is bent at a position corresponding to the flexible portion, a region of the sucking surface between the position and a distal end of the holder sucks the object.