MAGNETIC CONNECTION SYSTEM FOR A MULTI-AXIS GRIPPER OF A LAB AUTOMATION ROBOT

A lab automation robot includes a base, a tower rotatably coupled to the base, an arm translatable relative to the tower, a forearm rotatably coupled to the arm, and a wrist assembly rotatably coupled to the forearm about a wrist joint. The wrist assembly includes an end effector including a first magnet, a cap including a second magnet, a gripper pivotably coupled to the end effector, a linear actuator carried by the gripper, and a sensor carried by the gripper. The linear actuator adjusts a position of the gripper relative to the end effector. The linear actuator is coupled to the cap. The sensor detects an orientation of the gripper relative to the end effector. In response to the first and second magnets decoupling, the sensor detects an orientation of the gripper relative to the end effector outside of a predetermined operational range and terminate operation of the linear actuator.