Design and Experimental Evaluation of a Pneumatic Magnetic Gripper with Vision-Based Inspection for Robotic Pick-and-Place Applications

The present research focused on the design and development of a pneumatic magnetic gripper integrated with a six-axis robotic arm for automated handling of ferromagnetic metallic disc components. The developed system combines magnetic gripping, pneumatic actuation, robotic manipulation, manufacturing operations, and vision-based inspection into a coordinated pick-and-place system. The magnetic gripper provides an effective alternative to conventional mechanical gripping mechanisms by using magnetic attraction to securely hold ferromagnetic workpieces during robotic transfer.Overall, robot-assisted abrasive polishing has considerable potential to provide repeatable, flexible, and high-quality surface finishing for precision manufacturing. Continued development of sensing, adaptive control, process modelling, and intelligent automation will be important for achieving more efficient and autonomous polishing operations. The developed magnetic gripper was successfully integrated with the robotic arm and demonstrated reliable handling of the metallic disc during lifting and transfer operations. The magnetic element provides the required holding force, while the double-acting pneumatic cylinder and 5/2 double-solenoid valve provide controlled approach and retraction of the gripping element.  

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