Abstract
Mathematical modelling is applied to solve the problem of reliably lifting, with an electromagnetic robot gripper, a specified number of thin industrial transformer laminations at once from a pallet. Magnetic circuit analysis using a linear model has led to closed‐form solutions of the flux flow pattern and the net lifting force on each lamination in the stack. Compared to a finite element analysis approach, the analytical solutions are easier to interpret and have enabled general conclusions to be made about the performance of the robot gripper. An extension of the method to account for the non‐linear, magnetic saturation characteristics of the transformer laminations is also given.
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