Electromagnetic clamping device

An electromagnetic clamping system contains a housing, numerous permanent magnets, numerous low friction surfaces having a number of wheels, an end effector, an electromagnetic clamping device, first, second, and third coil systems, and a core. The end effector performs operations on a workpiece. The electromagnetic clamping device has an activated state and a deactivated state. The electromagnetic clamping device further includes a first coil system generating a first magnetic field causing normal forces on the permanent magnet unit and the clamping device; a second coil system generating a second magnetic field causing side forces on the permanent magnet unit; and a third coil system generating a third magnetic field causing a rotational force on the permanent magnet unit. The core provides access to the workpiece surface for performing operations thereon; and concentrates forces from a number of magnetic fields on the core surface contacting the workpiece surface.