Design of a compact tool changer for collaborative robots

This work is proposed to show the development of an automatic magnetic tool changer carried out at the Intelligent Autonomous Systems Robotics Lab of Leonardo S.p.A. based in Genoa (GE), Italy from December 2024 to May 2025. The thesis illustrates the workflow consisting of literature review and state of art; design definition and validation; finally analysis and testing. The final product consists of a magnetic tool changer system capable of sustaining both symmetric and asymmetric loads thanks to a combination of careful positioning and arrangement of magnetic elements and geometrical features. The final system is structurally safe and passively coupled, as current supply is required only during decoupling phase – thus enabling secure attachment and safe operations during power loss.