Simulating electro-permanent magnetic grippers in IsaacSim: 1360N holding force, Maxwell stress tensor
IsaiahBallah · x · 2026-09-19
Robotics engineer chloepilonv demos simulating an electro-permanent magnet end-effector in IsaacSim (Warp): a UR5e 6-DOF arm with a SCHUNK EMH-RP 045-B gripper rated up to 1360N holding force. Forces are computed via the Maxwell Stress Tensor from the magnetostatic field; field lines are simplified for rendering. They also note activation heats the magnet and degrades its properties, and propose having the RL policy account for it.
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