6D-Platform MagBot

To expand the workspace of a MagLev system in all dimensions, payload and functional dexterity compared to a single mover, the 6D-Platform MagBot has been developed - a low-cost parallel kinematic with six DoF that couples two movers into a composite robotic platform. The 6D-Platform MagBot is designed to be compatible with all industrial MagLev systems. Additionally, the MagBot can be autonomously dropped off or picked up by the mover using a docking station. The platform of the MagBot is controlled by the x-, y-, and \(\gamma\)-axes of the movers. To enable the development of motion planning approaches for Magnetic Robotics, a MuJoCo model of the 6D-Platform MagBot is integrated in the MagBotSim together with the inverse kinematics controller.

API References

The API references can be found here: 6D-Platform MagBot.

Note

This MagBots class assumes that the MagBot is used with a Beckhoff XPlanar system and two APM4330-0000-0000 movers, because the holes for the screws of mesh files “mover_to_mount_a.STL” and “mover_to_mount_a.STL” are designed for these types of movers. However, the 6D-Platform MagBot can also be used with other MagLev systems provided the movers have a similar or larger payload capacity. Only the holes for the screws of the aforementioned mesh files may need to be adjusted.

Component List, CAD Files, and Assembly Instructions

A complete list of all components, CAD files, and assembly instructions can be found on the website.