Abstract: A gripper mechanism includes a stator and a pair of mobile grippers moveably coupled to the stator via a linear bearing, the stator comprising a housing and a permanent magnet mounted within the housing, the mobile gripper comprising a support portion, a coil mounted on the support portion, and a gripper finger coupled to the support portion. The gripper mechanism further includes at least one magnetic locking mechanism comprising at least a first permanent magnet mounted on one of the stator and the mobile grippers, and a complementary soft magnetic material portion or magnet mounted on the other of the stator and the mobile grippers.

Abstract: Embodiments described include a electrical linear motor comprising a stator and an actuation shaft movable in a linear axial direction with respect to the stator. The stator comprising a casing, an electromagnet array mounted in the casing. The electromagnet array comprising a central orifice extending in the linear axial direction within which the actuation shaft extends. The actuation shaft comprising a permanent magnet arrangement comprising a plurality of magnetic pole segments. The electromagnetic array comprising a plurality of electromagnets to generate a magnetic field that in conjunction with the magnetic field of the permanent magnet arrangement generates an electromotive force between the stator and actuation shaft having a component in the axial direction to drive the actuation shaft relative to the stator.