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To detach a permanent magnet with a controlled force much smaller than itsoriginal attractive force, the Internally-Balanced Magnetic Unit (IB Magnet)was invented and has been applied to magnetic devices such as wall-climbingrobots, ceil-dangling drones, and modular swarm robots. In contrast to itsdrastic reduction rate on the control force, the IB Magnet has two majorproblems on its nonlinear spring which cancels out the internal force on themagnet: complicated design procedure and trade-off relationship betweenbalancing precision and mechanism volume. This paper proposes a principle of anew balancing method for the IB Magnet which uses a like-pole pair of magnetsas a magnetic spring, whose repulsive force ideally equals the attractive forceof an unlike-pole pair exactly. To verify the proposed principle, the authorsrealized a prototype model of the IB Magnet using magnetic spring and verifiedthrough experiments its reduction rate is comparable to those of conventionalIB Magnets. Moreover, the authors discussed and realized a robotic clamp as anapplication example containing proposed IB Magnets as its internal mechanism.

Internally-Balanced Magnetic Mechanisms Using Magnetic Spring for Producing Large Amplified Clamping Force