Coaxial Magnetic Gear-Based Tool-Changing System

This paper presents a novel tool-changing mechanism that leverages a coaxial magnetic gear (CMG) with non-contact torque control capability. The non-contact power transmission feature of the magnetic gear provides not only sensorless torque control for rotational motion but also easy attachment/detachment without requiring additional actuation. Moreover, the isolation of the powertrain makes it resilient to external impacts. To facilitate tool replacement, we have introduced a docking station equipped with gas springs and an additional degree of freedom. This enables robust tool plate interchangeability without concerns about disturbances during the attachment process. We also established an integrated control structure by building upon our prior research, and the prototype of the proposed mechanism was validated through experimentation using a 6-degree of freedom (DoF) robotic manipulator.