Magnetic coupling device with at least one of a sensor arrangement and a degauss capability

A robotic system movable relative to a ferromagnetic workpiece having a known shape, the robotic system comprising:

• an arm;
• a magnetic coupling device coupled to the arm, the magnetic coupling device comprising:
• a plurality of spaced apart pole portions, each of the plurality of spaced apart pole portions having a workpiece contact interface to contact the ferromagnetic workpiece;
• a magnetic flux source including a plurality of permanent magnets, the plurality of permanent magnets including a first permanent magnet and a second permanent magnet, the magnetic flux source having a plurality of states including a first state wherein a first level of magnetic flux is available at the plurality of workpiece contact interfaces of the plurality of spaced apart pole portions and a second state wherein a second level of magnetic flux is available at the plurality of workpiece contact interfaces of the plurality of spaced apart pole portions, the second level being less than the first level;
• and
• a plurality of sensors;
• and
• a controller operably coupled to the plurality of sensors, the controller operable to:
• approach the ferromagnetic workpiece with the magnetic coupling device in a first pose;
• based on the plurality of sensors of the magnetic coupling device, determine a relative position of a north pole portion and a south pole portion of the magnetic coupling device to the known shape of the ferromagnetic workpiece;
• if the relative position of the north pole portion and the south pole portion indicate that the magnetic coupling device is positioned in a target zone of the known shape of the ferromagnetic workpiece, couple the magnetic coupling device to the ferromagnetic workpiece;
• otherwise altering the magnetic coupling device to a second pose, the second pose being different than the first pose.