Patent Publication Number: US-2022212883-A1

Title: Robotic device and methods for fabrication, use and control of same

Description:
TECHNICAL FIELD 
     The invention relates to assembly, packaging or robotic devices. Particular embodiments provide systems and methods for moving movable robots relative to stators to transfer products from a conveyor. 
     BACKGROUND 
     Motion stages (XY tables and rotary tables) are widely used in various manufacturing, inspection and assembling processes. A common solution currently in use achieves XY motion by stacking two linear stages (i.e. a X-stage and a Y-stage) together via connecting bearings. A more desirable solution involves having a single moving stage capable of XY motion, eliminating additional bearings. It might also be desirable for such a moving stage to be able to provide at least some Z motion. Attempts have been made to design such displacement devices using the interaction between current-carrying coils and permanent magnets. Examples of efforts in this regard include the following: U.S. Pat. Nos. 6,003,230; 6,097,114; 6,208,045; 6,441,514; 6,847,134; 6,987,335; 7,436,135; 7,948,122; US patent publication No. 2008/0203828; W. J. Kim and D. L. Trumper, High-precision magnetic levitation stage for photolithography.  Precision Eng.  22 2 (1998), pp. 66-77; D. L. Trumper, et al, “Magnet arrays for synchronous machines”, IEEE Industry Applications Society Annual Meeting, vol. 1, pp. 9-18, 1993; and J. W. Jansen, C. M. M. van Lierop, E. A. Lomonova, A. J. A. Vandenput, “Magnetically Levitated Planar Actuator with Moving Magnets”, IEEE Tran. Ind. App.,Vol 44, No 4, 2008. 
     More recent techniques for implementing displacement devices having a moveable stage and a stator are described in: PCT application No. PCT/CA2012/050751 (published under WO/2013/059934) entitled DISPLACEMENT DEVICES AND METHODS FOR FABRICATION, USE AND CONTROL OF SAME; and PCT application No. PCT/CA2014/050739 (published under WO/2015/017933) entitled DISPLACEMENT DEVICES AND METHODS AND APPARATUS FOR DETECTING AND ESTIMATING MOTION ASSOCIATED WITH SAME; and PCT application No. PCT/CA2015/050549 (published under WO/2015/188281) entitled DISPLACEMENT DEVICES, MOVEABLE STAGES FOR DISPLACEMENT DEVICES AND METHODS FOR FABRICATION, USE AND CONTROL OF SAME; and PCT application No. PCT/CA2015/050523 (published under WO/2015/184553) entitled METHODS AND SYSTEMS FOR CONTROLLABLY MOVING MULTIPLE MOVEABLE STAGES IN A DISPLACEMENT DEVICE; and PCT application No. PCT/CA2015/050157 (published under WO/2015/179962) entitled DISPLACEMENT DEVICES AND METHODS FOR FABRICATION, USE AND CONTROL OF SAME. 
     Existing packaging solutions rely on robotic arms, commonly SCARA or delta robots to pick items from a conveyor and place them within packaging. This solution requires a large amount of space to avoid delta robots from colliding with each other and this operating space cannot be shared with humans due to significant safety concerns. In general, each robot covers a large area of the infeed and picking up and placing each object requires large movement limiting the overall productivity. To address the limit in productivity of each robotic arm typically additional robotic arms are added to the system until the desired productivity can be met. Additional robotic arms further increase cost and the space required for the packaging system and in general this additional floor space requirement adds significant cost to the owner. A robotic arm solution also requires very specific tooling for each product or arrangement, complicating any changeover. 
     The foregoing examples of the related art and limitations related thereto are intended to be illustrative and not exclusive. Other limitations of the related art will become apparent to those of skill in the art upon a reading of the specification and a study of the drawings. 
     SUMMARY OF THE INVENTION 
     In accordance with a first aspect of the invention there is provided a robotic handling system comprising: at least one magnetically actuated mover each comprising one or more magnetic components; wherein the at least one mover comprising a first mover; a stator defining a work surface and comprising a plurality of actuation coils arranged to interact with the mover&#39;s magnetic components; andone or more sensors to detect a position of the at least one movers on the stator; and a controller controllably moving the at least one mover over the work surface in two non-parallel translational dimensions parallel to the working surface, by driving the stator&#39;s actuation coils by one or more driving circuits. The first mover comprises a clamp having at least two opposing clamping surfaces relatively movable and separated by an adjustable clamping distance therebetween. The clamp further comprises an engagement mechanism to receive an external force from an object external to the first mover and the stator; the received external force causing the clamping distance to be continuously adjustable by the relative position between the first mover and the external object. 
     The engagement mechanism may be an unpowered mechanism and the external force is a mechanical or magnetic force. 
     The engagement mechanism may comprise a latch to maintain the clamp in the open or closed position after the external force is removed. 
     The engagement mechanism may vary a clamping force or clamp gap based on a magnitude of the external force or distance between the external object and the engagement mechanism. 
     The engagement mechanism may further comprise a biasing member for urging the clamp towards the open or closed position when the external force is not applied, preferably wherein the clamp is biased towards the closed position by the biasing member. 
     The two or more opposing clamping surfaces may apply a clamping force to the product in the closed position, preferably further comprising a bearing surface allowing at least one of the clamping surfaces to move relative to another clamping surface for adjusting the clamping force. The at least one mover may further comprise a second mover, and the external object is the second mover. 
     The clamp may further comprise a resilient deformable element for maintaining a clamping force on the product when in the closed position. 
     The controller may be programmed to controllably move at least one of the first and second movers to adjust the clamping distance to an open position for releasing the product and to a closed position for holding the product. 
     In accordance with a second aspect of the invention there is provided a method of securing a product in a robotic handling system comprising: loading the product onto a magnetically actuated mover, the mover located on and movable in two in-plane degrees of freedom over a working surface of a stator; activating magnetic coils of the stator to bring the mover and an object external to the mover and the stator into proximity, whereby an engagement mechanism of the mover receives from the external object an external force causing a clamping distance of two clamping surfaces of the mover to be continuously adjustable by the relative position between the first mover and the external object; and adjusting the clamping distance to a closed or open position to secure or release the product using the engagement mechanism. 
     The magnetic coils of the stator may separate the mover from the external object to allow a biasing member of the clamp to restore the clamp to an open or closed position. 
     The method may further comprise moving the mover to a second location on the stator&#39;s working surface, opening the clamp, and unloading the product from the mover. 
     In accordance with a third aspect of the invention there is provided an assembly system comprising: an infeed transfer subsystem for carrying products thereon; a sensor subsystem adapted to determine product locations of said products on the infeed transfer subsystem; a group of magnetically actuated movers, each having a securing mechanism adapted to securely engage the product; a stator having a working surface and an electromagnetic driving means to move each mover independently on the working surface; an outgoing transfer subsystem adapted for receiving the products from the group of movers; and a control system for controlling the electromagnetic driving means to move individual members of the group of movers from the determined product locations to a disposing location of the outgoing transfer subsystem. 
     The sensor subsystem may be arranged to detect multiple products on the infeed simultaneously and predict each product&#39;s location for when the securing mechanism is actuated. 
     The sensor subsystem may comprise a camera and image processor. 
     The stator may be proximate an outlet end of the infeed transfer system. 
     The working surface may provide a two degree-of-freedom planar surface between the infeed and outfeed transfer subsystems. 
     The securing means may comprise a picking tool, preferably an activatable suction cup, and preferably means of lowering and raising the securing means to the product. 
     The controller is arranged to actuate each mover in the group and move them as a group between respective individual product locations and the disposing locations. 
     The transverse spacing between products is less than twice the width of each mover. 
     The system may further comprise a second group of movers and a second outfeed transfer subsystem spaced-apart from the first outfeed transfer subsystem, wherein the second group of movers shares a region of the working surface proximate the infeed transfer subsystem with the first group of movers. 
     The outgoing transfer system may comprise a second group of movers and further comprising a second outgoing transfer system arranged to receive products from the second group of movers. A third outgoing transfer system may be arranged to receive products from the second outgoing transfer system. 
     The second or third outgoing transfer system may comprise a vertical actuator connected to another product securing mechanism and arranged to move products from a first height to a variable height in a package. 
     The second or third outgoing transfer system may comprise a packaging securing mechanism. 
     The products may be disposed at the disposing locations in a predetermined pattern for packaging. 
     The securing mechanism may comprise one or more retaining bays on each mover, each bay shaped to receive product at an opening and constrain the product in at least two dimensions. 
     The infeed transfer subsystem may comprise a singulator. 
     The working surface may comprise a queuing region for movers proximate an outlet of the infeed transfer subsystem, the region sized to contain at least two movers. 
     The outlet of the infeed transfer system may be positioned above the working surface, separated by a gap large enough to pass the movers therethrough. 
     The system may comprise a second infeed transfer subsystem for loading bays of the movers with the products, concurrent with the first infeed transfer subsystem. 
     The system may comprise a two-axis gantry for transferring product from the movers to the outfeed transfer subsystem. 
     The system may comprise a second infeed transfer subsystem for transporting packaging to the working surface. 
     According to a fourth aspect there is provided a method of assembly comprising: transferring products on an infeed transfer system in a first direction; determining locations of a plurality of the product on the infeed transfer system; individually actuating electromagnetic driving elements of a stator to move a group of movers on a working surface of the stator to the determined locations; securing the products using a securing mechanism of the movers at the loading location; and moving the movers to dispose the products at an outfeed transfer subsystem. 
     The method may move the movers as a group to dispose the product at an outfeed transfer subsystem. 
     The method may select a number of products on the infeed transfer subsystem equal to the number of movers in the group for picking per batch. 
     The method may predict picking locations of each product of the selected products and control individual movers to respective picking locations to pick the products. 
     The method may speed match each mover to their respective products on the infeed transfer system. 
     The group of movers may follow substantially the same path between picking and disposing locations. 
     The securing mechanism may comprise one or more retaining bays on each mover, each bay shaped to receive product at an opening and constrain the product in at least two dimensions. 
     The method may queue two or more empty movers proximate an outlet of the infeed transfer subsystem before moving them to secure products. 
     The method may load the movers with the products from a second infeed transfer subsystem concurrent with loading the first infeed transfer subsystem. 
     The method may control movers to move independently from outlets of infeed transfer subsystems to the disposing location, while avoiding collisions. 
     The method may transfer the product, using a two-axis gantry, from the movers to the outfeed transfer subsystem. 
     The movers may dispose the products in a predetermined pattern on the outfeed transfer subsystem. 
     In accordance with a fifth aspect of the invention there is provided a robotic handling system comprising: a plurality of magnetically actuated movers, each comprising magnetic components, wherein the plurality of movers comprise a first group comprising one or more first movers each having a first tooling and a second group comprising one or more second movers having a second tooling, different from the first tooling; a stator defining a working surface and comprising a plurality of actuation coils arranged to interact with the mover&#39;s magnetic components to controllably move the mover over the working surface when driven by one or more stator driving circuits; one or more sensors to detect a position of the mover on the stator; and a controller connected to the driving circuits. The controller is programmed to: circulate the first movers within a first region of the working surface to transfer one or more first products from a first receiving location for receiving the first products to a first unloading location for unloading at least one of the first products; and circulate the second movers within a second region of the working surface, different from the first region, to receive at a second receiving location one or more of the first products that are unloaded from first movers and transfer first products to a second unloading location for unloading one or more of the first products. 
     In accordance with a fifth aspect of the invention there is provided a method of transferring products comprising: controlling actuation coils of a stator to displace a plurality of magnetically actuated movers over a working surface of the stator in order to circulate a first group of movers within a first region of the working surface between a first receiving location for receiving the first products and a first unloading location for unloading the first products and circulate a second group of movers within a second region of the working surface between a second receiving location and a second unloading location for unloading the first products. The method first comprises transferring the first products from the first movers at the first unloading location to the second movers at the second receiving location. 
     In accordance with a sixth aspect of the invention there is provided a system comprising: a conveyor having a first working surface for conveying a plurality of products comprising a first product in a first direction; one or more magnetically actuated movers, each comprising one or more magnetic components; a stator having a second working surface and comprising a plurality of actuation coils arranged to interact with each mover&#39;s magnetic components to controllably move each mover over the second working surface in at least in two in-plane non-parallel directions parallel to the working surface when driving the stator coils with commanded currents by one or more driving circuits; and a controller connected to the driving circuits and programmed to control a first of the one or more movers to move with a motion component in a second direction, orthogonal to the first direction, and parallel with the first working surface, to align that first mover with a first of the plurality of products in the second direction and transfer that first product between the conveyor and that first mover. 
     In accordance with a seventh aspect of the invention there is provided a method of transferring a product between a conveyor and a mover comprising: operating the conveyor having a first working surface for conveying the product in a first direction; controlling actuation coils of a stator providing a second working surface to move a magnetically actuated mover in at least two in-plane degrees of freedom in on a second working surface of the stator with motion component in a second direction orthogonal to the first direction and parallel to the first working surface; positioning the stator and conveyor with their first and second working surfaces inclined with respect to each other to define a product transfer region at the intersection of the first and second directions; moving the mover to a first location to position an end effector extending from the mover to align with the products on either the conveyor or mover to the product in the first and second directions and pick the product up from transfer region; and then transferring the product to the other of the conveyor toor the mover. 
     Further aspects of the invention are set out in the claims and clauses, 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Various objects, features and advantages of the invention will be apparent from the following description of embodiments of the invention, as illustrated in the accompanying drawings. The drawings are not necessarily to scale, emphasis instead being placed upon illustrating the principles of various embodiments of the invention. 
         FIG. 1A  is a plan view of an assembly system in accordance with one embodiment. 
         FIG. 1B  is a plan view of a first mover&#39;s receiving and unloading locations 
         FIG. 1C  is a plan view of two groups of movers directly transferring product 
         FIG. 1D  is a plan view of two groups of movers transferring product via a transfer device 
         FIG. 1E  is a plan view of overlapping 2D areas 
         FIG. 2  is a perspective view of an assembly system. 
         FIG. 3  is a plan view of a mover on a stator, showing their magnetizing elements. 
         FIG. 4  is a side view of an air-actuated product securing tool on a planar robot. 
         FIG. 5  is a perspective view of a group of planar robots in positions to pick products from a conveyor. 
         FIG. 6  is a plan view of an infeed subsystem carrying products. 
         FIG. 7  is a perspective view of an alternative securing tool using dual movers. 
         FIG. 8  is a side view of a securing tool using dual movers in a raised position. 
         FIG. 9  is a side view of a securing tool using dual movers in a lowered position. 
         FIG. 10  is a side view of a securing tool using a single mover in a lowered position. 
         FIG. 11  is a vertical transfer mechanism. 
         FIG. 12  is an alternative vertical transfer mechanism. 
         FIG. 13  is an alternative vertical transfer mechanism. 
         FIG. 14  is a perspective view of a packaging infeed transfer system. 
         FIG. 15  is a perspective view of a packaging module on a mover. 
         FIG. 16  is a perspective view of an outfeed transfer system being loaded. 
         FIG. 17  is a side view of an outfeed transfer system 
         FIG. 18  is a perspective view of a package loaded with products. 
         FIG. 19  is a side view of a mover with picking tool picking a product from an infeed. 
         FIG. 20  is a side view of a mover with picking tool disposing a product on an outfeed mover. 
         FIG. 21  is a perspective view of the mover in  FIG. 20 . 
         FIG. 22  is a perspective view of a vertical transfer prior to moving a product to a package. 
         FIG. 23  is a side view of a vertical transfer prior to moving a product to a package. 
         FIG. 24  is a perspective view of a vertical transfer dispensing a product to a package. 
         FIG. 25  is a perspective view of an alternative assembly system. 
         FIG. 26  is a perspective view of a product loading onto a transfer mover. 
         FIG. 27  is a perspective view of movers with and without securing base. 
         FIG. 28  is a perspective view of a product loaded in a pattern on a mover. 
         FIG. 29  is a perspective view of plural infeeds loading transfer movers simultaneously. 
         FIG. 30  is a perspective view of alternative patterns of groups of products. 
         FIG. 31  is a perspective view of an outfeed process using a gantry system. 
         FIG. 32  is a perspective view of a gantry system loading in different patterns. 
         FIG. 33  is a perspective view of an alternative assembly system. 
         FIG. 34  is a perspective view of an infeed singulator loading movers with multiple slots. 
         FIG. 35  is a perspective view of a package loaded with product. 
         FIG. 36  is a perspective view of a loaded transfer mover and empty packaging mover. 
         FIG. 37  is a perspective view of plural transfer movers with plural securing slots. 
         FIG. 38  is a perspective view of a mover with packaging securing base. 
         FIG. 39  is a perspective view of an unsingulated infeed loading movers simultaneously. 
         FIG. 40  is a perspective view of a gantry with plural grippers to transfer plural products. 
         FIG. 41  is a perspective view of an empty box on a securing base. 
         FIG. 42  is a plan view of an empty box on a securing base. 
         FIG. 43  is a plan view of a securing base approaching a releasing bar. 
         FIG. 44  is a perspective view of a securing base approaching a releasing bar. 
         FIG. 45  is a perspective view of a transfer process for re-orienting products. 
         FIG. 46  is a plan view of a transfer process for re-orienting products. 
         FIG. 47  is a perspective view of an alternative assembly system 
         FIG. 48  is a side view of movers picking workpieces on the infeed from multiple inclined stator working regions 
         FIG. 49A  is a perspective view of a alternative assembly system 
         FIG. 49B  is a plan view of the alternative assembly system&#39;s conveyor locations 
         FIG. 49C  is a side view showing the relative movement between workpieces on the infeed and movers on an inclined stator working region. 
         FIG. 50  is a plan view of an assembly system according to one embodiment. 
         FIG. 51  is a side view of an inclined product securing tool on a planar robot. 
         FIG. 52  is a perspective view of an inclined product securing tool on a planar robot. 
         FIG. 53  is a plan view of a X-oriented mover carried product gripping embodiment in an open position 
         FIG. 54  is a plan view of a X-oriented mover carried product gripping embodiment in a closed option 
         FIG. 55  is a plan view of a Y-oriented mover carried product gripping embodiment 
         FIG. 56  is a plan view of a mover carried product gripping embodiment 
         FIG. 57  is a plan view of a mover carried product gripping embodiment 
         FIG. 58  is a perspective view of a mover carried product gripping embodiment 
         FIG. 59  is a plan view of a mover carried product gripping embodiment 
         FIG. 60  is a front view of a mover carried product gripping embodiment 
         FIG. 61  is a perspective view of a mover carried product gripping embodiment 
     
    
    
     DESCRIPTION 
     Throughout the following description specific details are set forth in order to provide a more thorough understanding to persons skilled in the art. However, elements well known in the prior art may not have been shown or described in detail to avoid unnecessarily obscuring the disclosure. Accordingly, the description and drawings are to be regarded in an illustrative, rather than a restrictive, sense. 
     According to some aspects of the invention and as depicted in  FIG. 1A , robotic systems are provided which comprise one or more stators and one or more movers, for carrying products about an assembly system. Products  102 A/B may refer to parts, workpieces, packages, food stuffs, subassemblies, and components in an assembly process, whether finished or unfinished. The movers and stators may be those described in WO2018176137A1 entitled “Robotic devices and methods for fabrication, use and control of same” and shown in  FIG. 3 . Movers  100  comprise magnetization elements  114 , which magnetically couples with the activatable electromagnetic driving elements  135  of the stator  200 . The magnetic coupling moves the mover over the stator&#39;s working surface in a precise manner through magnetic repulsion and attraction. The stator subsystem further comprises sensors  180  for sensing the location of the mover, a controller  180  and an amplifier  170  to controllably activate the magnetic elements  135 . 
     The movers move over a working surface provided by the stator and may have a product securing mechanism  110  to hold one or more products. In some embodiments, all movers in a system are substantially similar or nearly identical. However, a system may comprise movers comprising magnet arrays of very differential size and configuration. In some embodiments, a stator comprises a plurality of coils distributed in one or more planar layers. 
     The stator provides a working surface (flat or curved or cylindrical or spherical) to movers and each mover is able to move along the working surface either in a contact manner (via contact media such as sliding and/or rolling bearings, contact mode or sitting mode) or without any contact by maintaining a controllable gap between a mover and a stator in the working surface normal direction with 6-DOF controllably motion (active levitation mode) or without any contact by maintaining a gap between a mover and a stator in the working surface normal direction by passive levitation means (passive levitation mode). Throughout this document, moveable motion stages, moveable stages, motion stages, and movers are interchangeably used. Each mover may comprise one or more magnet assemblies. Each magnet assembly may comprise one or more magnet arrays rigidly connected together. Each magnet array may comprise one or more magnetization elements. Each magnetization element has a magnetization direction. Generally, magnets on a mover interact with stator coils via a working gap that is much smaller than the mover lateral dimension, i.e. in a direction parallel with the stator working surface. 
     As used herein planar surface, planar movement and planar robot indicate motion that mostly takes place in 2 dimensions, typically on a flat work surface or at least generally flat with respect to the size of the mover, so that the magnetic coupling is provided as the mover moves on the work surface. Thus, while a curved work surface is possible, too tight a radius with respect to the mover size will mean that some products of the mover will not be in close enough proximity for the magnetic coupling to provide actuation. 
     One or more amplifiers  170  may be connected to drive a current in the plurality of magnetic elements  135  in the one or more stators. One or more controllers may be connected to deliver control signals to the one or more amplifiers. The control signals may be used to control current driven by the one or more amplifiers into at least some of the plurality of coils. The currents controllably driven into the at least some of the plurality of coils create magnetic fields which cause corresponding magnetic forces on the one or more magnet array assemblies of a mover, thereby moving the mover relative to the stator (e.g. within the working region) controllably in at least 2 in-plane degrees-of-freedom (DOF) motions, including but not being limited to 3 in-plane DOF controllable motions and 6 DOF controllable motions. The magnetic forces associated with the interaction between the magnetic fields created by the currents in the at least some of the coils and the magnetic fields associated with the magnet arrays may attract the moveable stage toward the stator at all times when the controller is controlling the currents driven by the one or more amplifiers. In some embodiments, the magnetic forces associated with the interaction between the magnetic fields created by the currents in the at least some of the coils and the magnetic fields associated with the magnet arrays may force the mover stage away from the stator to balance gravitational forces with an air gap at all times when the controller is controlling the currents driven by the one or more amplifiers. In some embodiments, the gap between movers and the stator is maintained by air bearings or compressed-fluid bearings. 
     In some embodiments, movers  100  may work in levitation mode, i.e. be levitated near the stator top surface without contact with the stator either in a passive way or in an active way, and move along the stator surface extending in X and Y directions, where X and Y are two non-parallel directions inside the stator working surface. The separation gap between a stator top surface and a mover bottom surface is much smaller than the mover dimension in X and Y. Although movers in many embodiments are capable of 6 DOF controllable motion, this is not necessary in all situations. In certain applications where the levitation feature (movers completely separates itself away from the stator without any contact to the stator) may not be needed and heavy load carrying capability is more important, it should be understood throughout this description by those skilled in the art that movers can sit on the stator stop surface with proper mechanical bearing (including but not being limited to planar sliding bearings, ball transfer units) and are capable of three in-plane DOF controllable motion (translation in X and Y and rotation around Z), where X and Y are two non-parallel directions in the stator top surface plane and Z is the stator top surface normal direction. When a mover relies on sliding and/or rolling bearing to sit on the stator top surface and the mover is capable of 3 in-plane DOF controllable motion (translation in X and Y and rotation around Z), it is working in the 3-DOF controlled sitting mode. In some embodiment, a mover is capable of 3-DOF controllable motions (translations in X and Y and rotation around Z) working in levitation mode without contact to the stator; in this mode, the translation in Z, rotation around X and rotation around Y (and thus associated DOF) are open-loop controlled without feedback, using suitable passive levitation technology known in prior arts. When a mover is capable of 3-DOF controllable motion without contact to stator, it is working in the 3-DOF controlled levitation mode. 
     Generally, a stator&#39;s working region is a two-dimensional (2D) area provided by the stator working surface, and movers can be controllably moved with at least two in-plane DOF motion inside the stator working region, with suitable feedback control algorithms and suitable position feedback sensors. 
     For purposes of describing the movers disclosed herein, it can be useful to define a pair of coordinate systems—a stator coordinate system which is fixed to the stator (see  FIG. 3 ); and a mover coordinate system which is fixed to the moveable stage and moves with the mover relative to the stator and the stator coordinate system. This description may use conventional Cartesian coordinates (x, y, z) to describe these coordinate systems, although, it will be appreciated that other coordinate systems could be used. For convenience and brevity, in this description and the associated drawings, the directions (e.g. x, y, z directions) in the stator coordinate system and the directions in the mover coordinate system may be shown and described as being coincident with one another—i.e. the stator-x (or Xs), stator-y (or Ys) and stator-z (or Zs) directions may be shown as coincident with mover-x (or Xm), mover-y (Ym) and mover-z (or Zm) directions, respectively. Accordingly, this description and the associated drawings may refer to directions (e.g. x, y, and/or z) to refer to directions in both or either of the stator and stage coordinate systems. However, it will be appreciated from the context of the description herein that in some embodiments and/or circumstances, a mover (e.g. mover  10 ) may move relative to a stator (e.g. stator  30 ) such that these stator and mover directions are no longer coincident with one another. In such cases, this disclosure may adopt the convention of using the terms stator-x, stator-y and stator-z to refer to directions and/or coordinates in the stator coordinate system and the terms mover-x, mover-y and mover-z to refer to directions and/or coordinates in the mover coordinate system. In this description and the associated drawings, the symbols Xm, Ym and Zm may be used to refer respectively to the mover-x, mover-y and mover-z directions, the symbols Xs, Ys and Zs may be used to refer respectively to the stator-x, stator-y and stator-z directions and the symbols X, Y and Z may be used to refer respectively to either or both of the mover-x, mover-y and mover-z and/or stator-x, stator-y and stator-z directions. In some embodiments, during normal operation, the mover-z and stator-z directions are approximately in the same direction (e.g. within ±30° in some embodiments; within ±10° in some embodiments; and within ±2° in some embodiments). Although in this description, the working area is essentially flat and planar, it will be understood to those skilled in the art that this is not necessary and the top surface of the stator (the surface facing movers) can be a curved surface including but not being limited to cylindrical surface and spherical surface with suitable modification of control algorithm and stator coil layout disclosed herein and in the prior art. 
     The stator-x and stator-y directions may be orthogonal. Similarly, the mover-x and mover-y directions may be generally orthogonal. 
     When it is described that two or more objects overlap in or along the z-direction, this usage should be understood to mean that a z-direction-oriented line could be drawn to intersect the two or more objects. 
     A working region of a stator means the planar region where the stator can controllably move a mover by commanding current flowing into the stator coils in one or more degrees of freedom. Working region of a mechanical carrier means the locations where the mechanical carrier can support or guide a mover in one or more degrees of freedom. The overlapping region between a stator working region and a carrier working region means locations where the stator can controllably move a mover in one or more DOF and a carrier can support a mover (or a mover can be supported by the carrier) in one or more DOF. In such region, the mover may be controlled by the stator without the support by the carrier, or the mover may be supported by the carrier without the control by the stator, or the mover is controllably moved in some degrees of freedom and supported by the carrier in some degree of freedom. For example, a mover in the overlapping region may be levitated by stator with 6DOF motion control without contact to the stator or the mechanical support, and at another time at the same location the mover may land onto the mechanical carrier by turning off current in the stator coils inside the overlapping regions; alternatively, the mover may be supported and guided by a mechanical carrier (X oriented linear guide rail) in five DOF (Y, Z, Rx, Ry, Rz) and the stator may controllably move the mover in one DOF (X direction linear motion). 
     Controlling the motion of and/or controlling the position of moveable stages in or with multiple degrees of freedom may be understood to mean applying feedback position control in the multiple degrees of freedom but does not expressly require that there be motion of mover in any such degree of freedom. 
     A configurable 2D path may be understood as a line (straight or curved) inside stator working region with software configurable (modifiable) shape and length. Software configurable means modifiable by a software or a program or a set of parameters. In another word, a configurable 2D path is configured by software or is generated by software in real-time instead of being defined by mechanical hardware guiding means such as guide rails. 
     In this description, a floating bearing assembly means that the whole bearing assembly can move relative to the stator during robotic system operation. For example, a floating flexural bearing means the whole flexural is mounted on a moving frame; a floating linear guide bearing means that both the guide rail and the slider on the guide rail are not fixed with the stator frame and can move relative to the stator during the robotic system operation. 
     In this description, a floating linkage assembly means that the whole linkage assembly can move relative to the stator during robotic system operation. 
     In this description, a controllable force on a magnet array assembly means that by driving properly commutated current through a set of properly selected coils in a stator  30  a force can be generated with amplitude following a desired value in a direction through a plane. A plurality of independently controllable forces means that each of the plurality forces can be generated to follow a command signal independent of the rest of forces, and any two forces of the plurality of forces are not collinear in space. 
     In this description, two in-plane DOF motions means independent translation motions in two non-parallel directions X and Y, and both directions are orthogonal to the Z direction which is the normal direction of the stator top plane. 
     In this description, three in-plane DOF motions means independent translational motions in two non-parallel directions X and Y, plus rotational motion around Z, where Z is the normal direction of the stator top plane, and both X and Y are orthogonal to the Z direction. 
     In this description, 6 DOF motions means independent translation/rotational motions in X, Y, Z, Rx, Ry, Rz, where X and Y are non-parallel, X, Y, Z are not coplanar, Rx, Ry and Rz represents rotation direction around X, Y, and Z, respectively. 
     In this description, although one moveable robot is shown in many figures, it should be understood that multiple similar or different moveable robots can work together and share a common stator. 
     In this description, a mover (or a magnet assembly) being capable of n-DOF (where n is an integer number) controllable motion means that by driving suitable currents into suitable coils in the stator to interact with the mover (or the magnet assembly) and thereby generating force on the mover (or the magnet assembly), the n-DOF motion of the mover (or the magnet assembly) can be controlled by controllers in a closed loop, with the aid of suitable position feedbacks. 
     In this description, hinge joints, revolute joints, cylindrical joints are interchangeably used. A mover is said to be inside a region (working region or overlapping region). When it is described that one or more movers are inside a working region, this usage should be understood to mean that the mover magnet array footprint (projection onto the stator working plane extending in X and Y direction) is inside a working region. 
     In this description the mover&#39;s location is generally understood to be referring to the location of the mover&#39;s center 
     In this description a transfer device is understood to be a conveyor system or one or more degree of freedom actuator which transfers product to and/or from a mover. 
       FIGS. 1 and 2  describes a non-limiting example of a robotic assembly system  900  according to a particular embodiment. The system comprises one stator  200  comprising one or more stator modules, one or more movers  100 , one or more controllers  70  (not shown), and one or more mover sensors  180  (not shown). The one or more movers may include  100 A/ 100 B/ 100 C (operating in distinct streams on the left and right sides respectively). The system may further comprises an unsorted infeed  220 , a product sensor  80  (not shown) to determine product locations on the infeed surface  221 , one or more packaging infeeds  230 , one or more packaging outfeeds  240  and one or more vertical actuators  210  with optional additional actuable Degrees of Freedom (DOF). Picking mover  100 A carries an actuated product securing mechanism  110  (shown in detail in various embodiments in  FIGS. 4, 5, 7, 8, 9 and 10 ) mounted on the mover and raised or lowered through the mover&#39;s vertical movement and/or rotational movement. Engagement of the securing mechanism  110  is powered/driven through an external (pneumatic or electric) connection  112  to a power source in order to secure, grip, retain or otherwise pick products at the outlet of the infeed. These movers dispose of the product at an outfeed transfer subsystem, in an ordered pattern (the pattern may be more conducive to packing). There may be several outfeed subsystems to process, rotate or otherwise transfer the products to some final outfeed for assembly or packaging. 
       FIG. 1B  shows a subset of the embodiment from  FIG. 1A  comprising a single set of movers comprising a first group of movers  100 A (with a conveying area  118  for products  102 A carried by the mover&#39;s product handling mechanism  110 ) and conveyor  220  (with conveyor working surface  228  for any carried products  102 A on the conveyor surface  222 ). In this particular embodiment, the stator working surface and conveyor working surface  228  do not overlap, this is not necessary. The mover conveying area refers to the mover&#39;s capable planar motion offset to the carried product location (ie. to an end effector), creating an area that the product may be conveyed by the mover. The mover conveying area  118  and the conveyor working surface  228  overlap with each other in Z direction. Their overlapping area forms a 2D overlapping common region  119  (as shown in  FIG. 1E ). Inside the overlapping common region, a mover  100 A may utilize Y motion to align the mover-mounted end effector&#39;s  111  Y position with the product  102 &#39;s Y position, while utilizing X motion to match the end effector&#39;s  111  X position and speed with the X position and speed of the product along the conveying direction (X direction) before actuating the end effector along the Z direction to transfer a product from the conveyor to the mover. In this particular embodiment the stator  200  work surface does not overlap with conveyor work surface  229  along the Z direction. The receiving location  107 A of a mover during the transfer is represented in the figure for illustrative purposes, however for this embodiment the specific location is not fixed due to the varying position of product  102 A in the unsorted infeed. After receiving a product a mover will go to its respective unloading location  108 A where the product may be released to a subsequent process. In some embodiments, the end effector 111  is a vacuum cup that can be activated by a vacuum source; in some embodiments, the end effector is an electrically activated actuator or gripper or clamp. 
     In  FIG. 1B , more than one mover  100 A may move as a group, i.e. they move together to their respective target locations with generally similar motion patterns but different start-to-ending displacement vectors (as the product pitch is generally not fixed due to the unsorted nature of the in-feeding products on the conveyor), to pick their respective target product from the conveyor  220 , with coordinated motion to move closely and yet avoid collision. This is advantageous to improve productivity. 
     In various embodiments mover speed matching with conveyor speed along the conveyor&#39;s direction of motion is used, this is not always required to transfer the product between mover and conveyor. In most cases however speed matching will allow a higher throughput overall compared to stationary picking and will be less damaging to a received/unloaded moving product. Speed matching can be generalized to reaching a speed within 10% of the target along the corresponding direction of motion of the target. 
       FIG. 1C  shows a subset of the embodiment from  FIG. 1A  comprising a first group of movers  100 A (with respective first receiving locations  107 A and first unloading locations  108 A), a second group of movers  100 B (with respective second group of receiving locations  107 B and second group of unloading locations  108 B), and product  102 A. When the first group of movers  100 A (at first unloading locations  108 A) transfers the carried product to the second group of movers (at the receiving locations  107 B) a first mover  100 A and second mover are at an offset position corresponding to the first mover&#39;s product handling mechanism  110  which carries the product at an offset position. It should be understood by those skilled in the art that such offset is not necessary. In some other embodiments, the first unloading locations and the second receiving locations can be the same as shown later. In this particular embodiment each mover in the first group of movers  100 A has a product securing mechanism  110  as a tooling to handle products, and each mover in the second group of movers  100 B utilize their top surface or a fixture  104  (not shown) as tooling to handle their respective products  102 A. Although in this example an equal first mover  100 A and second mover  100 B quantities are shown, this is not required. Any quantity of one or more first movers  100 A and one or more second movers  100 B may be used. Furthermore each first mover  100 A and second mover  100 B may carry more than one product  102 A, which may be transferred from a first mover  100 A to one or more second movers  100 B or more than one first movers  100 A to a second mover  100 B 
       FIG. 1D  shows a subset of the embodiment from  FIG. 1A  comprising a first group of movers  100 B (with respective first group of receiving locations  107 B and first group of unloading locations  108 B), a second group of movers  100 C (with respective second receiving locations  107 C, third receiving locations  109 C and second unloading locations  108 C), a first product  102 A and second product  102 B. In this particular embodiment, a first unloading location  108 B is collocated with a second receiving location  107 C, though this is not required. To transfer a product a first group mover (or a first mover)  100 B may carry its product  102 A to a transfer device  210  (ie. Z actuator) at a first unloading location  108 B and unload the product  102 A to the transfer device. A second group mover (or a second mover)  100 C will receive a second product  102 B (ie. packaging) at a third receiving location  109 C from a package infeed (second transfer device)  230  and go to a second receiving location  107 C, where the transfer device  210  may release the first product  102 A to the mover. The second group of movers will go to the second group of unloading locations to unload carried first product  102 A and carried second product  102 B. Although in the above example, only one product is carried by a mover, this is not necessary. In some embodiments, a mover may carry multiple products simultaneously, and furthermore, receive one or more products at a time and may unload one or more products at a time. Although in the above example, one second product (packaging)  102 B is received by a second mover  100 C, this is not necessary. In some embodiments, more than one second products  102 B may be received by a second mover at a time. Generally, a robotic device may comprise a stator providing a working surface supporting a plurality of movers driven in at least two in-plane DOF by the stator with suitable current commanded by one or more controllers. 
     In various embodiments, the plurality of movers may comprise a first group comprising one or more first movers each having a first tooling and a second group comprising one or more second movers each having a second tooling, different from the first tooling. 
     In various embodiments, the controller may be programmed to drive the first movers (such as  100 A in  FIG. 1 ) within a first region (the bottom row of stator modules in  FIG. 1A ) of the working surface to transfer one or more first products (such as  102 A in  FIG. 1 ) from a first receiving location ( 107 A, when a  100 A is positioned at  107 A to pick a product  102 A from a conveyor  220 ) for receiving the first products to a first unloading location ( 108 A, such as when a  100 A moves to  108 A where the product  102 A picked by the  100 A is right over an  100 B that is located at  107 B) for unloading at least one of the first products ; and circulate the second movers (such as  100 B) within a second region (the second and third row of stator modules from the bottom in  FIG. 1A ) of the working surface, different from the first region, to receive at a second receiving location (for example,  107 B, when a  100 B is positioned at  107 B to receive a  102 A from a  100 A located at  108 A) one or more of the first products ( 102 A) that are unloaded from first movers ( 100 A) and transfer first products ( 102 A) to a second unloading location ( 108 B, for example, when a  100 B is positioned  108 B right under a transfer device, such as z-axis actuator,  210 ) for unloading one or more of the first products. 
     In various embodiments, the controller may be programmed to drive a second mover to a third receiving location to receive one or more second products (such as but not being limited to a package for the first product or a component to be assembled with the first product, generally termed as a receiving body in this document) first, then go to the second receiving location to receive one or more first products, and finally go to a second unloading location to unload the received first product(s) along with the second product(s). Particularly, the second product may be a packaging for the first product. Particularly, a first unloading location may collocate a second receiving location. 
     A group of movers  100 B may be used as an intermediary outfeed between the picking movers  100 A and the next or final outfeed. These movers  100 B may utilize their top surface or a fixture  104  to support products  102 A placed on it and carry the products to a subsequent outfeed. The vertical actuator (transfer device)  210  is a transfer subsystem to raise and lower products it receives using one or more actuated vertical elements with optional re-orientation of a product during placement. An additional group of movers  100 C (see  FIG. 14 ), acting as a further outfeed subsystem, carries packaging  102 B, constrained and/or gripped by a fixture  104  mounted on the mover&#39;s top surface to the next or final outfeed. 
     During a synchronized product transfer (picking movement) for this embodiment, a mover  100  moves to a location above the surface of the stator  200 , with its end effector  111  located above a product  102 A on the product infeed  220  located within a picking region. While maintaining the relative location of the end effector  111  to the product (typically in motion along the conveyor&#39;s  220  infeed direction) the mover may actuate its securing mechanism (e.g. by suction cup  111 ) to grip and lift the product  102 A from the product infeed surface  221 . After being lifted from the product infeed surface  221  the product will be securely held by the securing mechanism  110  during future movements of the mover  100 . 
     The mover  100 A, carrying a product  102  gripped by the securing mechanism, moves to a unloading location  108 A of the outfeed. This may be on another group of movers  100 B, optionally also having a securing mechanism  104 , conveyor or other suitable transfer system. At this disposal location the actuated gripper  111  releases the product so it is placed on the mover  100 B (see  FIG. 20 ). 
     During a transfer motion (as shown in  FIGS. 22-24 ), the mover  100 B carries a product  102 A underneath a transfer device  210  (vertical actuator), where the transfer device&#39;s  210  securing mechanism  211  is lowered until contact occurs with the product. After contact occurs the securing mechanism will grip and lift the product to an elevated position above the stator surface. A mover  100 C (which could be the same or different from the initial mover) will move underneath the raised product to a desired position relative to the transfer device  210  (usually determined by the loading location of product onto the mover) The vertical actuator then lowers the securing mechanism to a location above mover  100 C and releases the product thereby depositing the product  102 A on the mover  100 C, preferably in the packaging  102 B. 
     In some embodiments the gripping mechanism securing mechanism  111  actively grips the product  102 A. In some embodiments the gripping mechanism securing mechanism passively grips the product  102 A. 
     In some embodiments the placement motion involves releasing the product  102 A at an elevated position. In some embodiments the product is released while contacting the mover  100  surface or the fixture  104  mounted on the mover  100 . 
     In some embodiments, the transfer device  210  operation will be a purely vertical motion to remove and deposit the product  102 . In some embodiments, the product will be lifted vertically and rotated with respect to 1, 2 or 3 axes (X, Y, Z). In some embodiments the product will be deposited to a mover  100  surface or its receiving bay  104 . The gantry may lower the product into the packaging by a variable distance depending on the packaging depth and number of products stacked. 
     In overview of the embodiment in  FIG. 1A , product  102 A is delivered to the product infeed  220  in a random, dispersed order. The system  900  uses one or more movers  100 A with an actuated gripping mechanism  110  to receive the product  102 A. The actuated gripping mechanism  110  will remove the product  102 A from the infeed  220  and place the product on a secondary mover  100 B. The secondary mover  100 B will position the product  102 A below an transfer device  210  (vertical actuator), which will receive, then raise the product  102 A to an elevated position. A third mover  100 C will go to the packaging infeed (a second transfer device)  230  for a loading motion of one or more pieces of packaging  102 B, then while holding packaging  102 B will move directly below the vertical actuator  210  such that the product  102 A can be deposited in a desired location with respect to the packaging  102 B. This process may be repeated until all desired products  102 A are placed within the packaging  102 B. Then the packaging  102 B will be moved to the packaging outfeed  240  for an unloading motion. 
     As shown in  FIG. 1A and 2 , there may be additional parallel groups of movers  100 A/ 100 B/ 100 C moving from the picking region (shared with the first group) to its own packaging loading process with transfer device  210 , infeed  230  and outfeed  240  subsystems, spaced-apart from the other infeed and outfeed. Thus, while one group of movers  100 A is disposing product on one side of the assembly system  900 , the other group of movers  100 A is picking product from the infeed  220 . Each of the two groups of movers will move from their respective unloading sides to the product infeed (with individual respective receiving locations) with opposite Y direction motion. 
     To be space and time efficient, several movers  100 A, each with securing mechanism  110 , may be operated in concert to simultaneously grab multiple products  102 A on the infeed  220 . Thus although the movers are actuated individually via the common stator, they move together as a group, covering generally the same path on the working surface between receiving locations and the unloading locations. The receiving location for each mover in the group will vary slightly for their respective products. The products may also be of multiple types requiring sorting, stacking and/or arrangement into a desired pattern conducive to packaging. 
     In some embodiments, more than one type of product will be picked and packed. In some embodiments with multiple mover  100 C, multiple different types of a first product  102 A or second product  102 B will be held by a different mover  100 C simultaneously, with potentially different respective product receiving or unloading locations. In some embodiments a product  102 A will be directly transferred to packaging  102 B carried by a mover  100 C by the actuated gripping mechanism  110 . 
     As shown in  FIG. 4 , a mover comprising a securing mechanism  110  (vacuum cup connected  111  to an external source via a vacuum line  112 ), a cantilevered structure  101  (connecting the end effector  111  to the mover  100 ), and a stator  200  (not shown). This embodiment utilizes a combination of the mover&#39;s vertical position control and rotation about the Y axis to raise and lower the securing mechanism (particularly the end effector  111 ). The vertical position and pitch can be controlled separately from the planar motion of the mover  100  allowing the actuated gripping mechanism to pick up the product  102 A while moving. 
     As shown in  FIG. 5 , a picking system comprising more than one mover  100 A (each carrying an actuated gripping mechanism  110 ), a product infeed  220  (the product infeed surface  221  has more than one product  102 A distributed on its working surface (in a sorted or unsorted manner), with a sensor  80  tracking their position) and a stator  200 . The mover  100 A carrying an actuated gripping mechanism  110  will move its end effector  111  to a position with respect to the product  102 A and may match speeds during the picking motion to assist with product retrieval. During removal each mover  100  will use a combination of vertical motion and pitch motion to lift the product  102 A from the infeed conveyor belt  221  and rotation about Z axis to locate the securing mechanism over the product when the product  102 A is closer than the minimum mover  100  spacing. Alternatively, as needed a staggered pickup sequence is used if rotational movement is insufficient to pick up excessively close products  102 . To perform a transfer with a moving product  102 A on the product infeed  220  the mover  100 A must utilize precise timing and movement to rapidly accelerate to simultaneously achieve synchronous position and motion with a workpiece for sufficient duration to perform a transfer motion before decelerating. Interception may be constrained by operating distance at each stage or cumulatively. Generally to achieve picking in quick succession two or more movers  100 A will align with their respective products along the Y direction simultaneously, and the actual transfer (picking) timing for each mover will be dependent on each respective products conveying direction position and speed on the conveyor working surface. 
     In some embodiments, the product  102 A position on the product infeed surface  221  is measured with an overhead camera or sensor  80  to allow the mover  100  carrying an actuated gripping mechanism  110  to accurately secure the product  102 A during a picking motion. In some embodiments, the product is located by triggering one or more sensors located at fixed locations along the product infeed  220 . In some embodiments the contact force between the product  102 A and the securing mechanism  111  is used to trigger the picking motion of the actuated gripping mechanism  110 . 
       FIG. 6  shows an overhead view of a product infeed  220  embodiment comprising an infeed surface (a conveyor belt), multiple products  102 A (distributed unevenly on the infeed surface  221 ), an infeed sensor  80 , a conveyor working surface  228  (comprising locations where products may be conveyed by the mover) and a rejection area  224  (located at the end of the infeed). The sensor identifies the non-deterministic position of each product  102 A on the infeed surface  221  and the controller  70  utilizes the position information to coordinate the picking operation of each product  102 A by an actuated gripping mechanism  110  in a common conveying region  119 . The infeed sensor is also used to assess the quality of each product any products identified as not meeting quality requirements will not be picked by an actuated gripping mechanism thereby falling off the end of the infeed into a rejection area for disposal or further processing. 
     In some embodiments products  102 A identified as defective will not be picked up by a product handling mechanism  110  thereby falling off the end of the conveyor into a suitable disposal area  224 . In some embodiments where the product infeed  210  is operated at a fixed speed, any products exceeding the capacity of the product handling mechanisms  210  or in excessive density on the infeed  220  will automatically be rejected to a disposal area  224 , potentially to be reused again in the future. In some embodiments a product infeed  220  will be variable speed-controlled the infeed to regulate the product  102 A rate. 
       FIGS. 7, 8 and 9  show an iso and side views of an actuated gripping mechanism  110  in lowered and raised configurations. This embodiment comprises a cantilevered arm  113  (three struts connected with hinge elements and a linear bearing), two movers  100 A/ 100 B, a securing mechanism  110  (vacuum cup or actuated gripper). This embodiment utilizes a constrained linkage  113  to convert the relative movement of two movers into a rotational movement (with a vertical movement component) capable of lifting products  102  off the infeed surface  221 . In this embodiment the relative distance controls the height of the securing mechanism and the angular position of mover  100 B about mover  100 A controls the rotation of the securing mechanism  111  about mover  100 A (as shown in  FIG. 7 ). In some embodiments the strut connections on each mover may be capable of rotational movement about the vertical axis and/or a secondary orthogonal axis. The additional rotational compliance would be used to allow for angled lifting of products  102  and prevent over constraining the movers  100 . 
       FIG. 10  shows a side-view of the product removal apparatus comprising a mover  100 , an actuator  114  (electric motor), cantilevered arm  113  (three struts connected with hinge elements and a linear bearing), a gearing mechanism  115  (lead screw and nut), and a securing mechanism. The lead screw mechanism  115  is connected to the motor  114  and can be actuated to control the vertical position of the securing mechanism  111 . By coordinating the control of the motor with the mover  100  movement it is possible to pick a product  102  from the infeed surface  221 , while matching the infeed  220  speed to smoothly pick up the product  102 . Raising and lowering the securing mechanism  111  may also be achieved with a combination of motor actuation and mover  100  motion control to achieve a faster picking motion. 
     In various other non-limiting embodiments, the onboard actuation of the lifting linkage shown in  FIG. 10  could be replaced with a pneumatic cylinder, a motor driven rack and pinion, motor driven cable system or similar actuation mechanism. 
     Generally the product securing mechanism  110  embodiments where the end effector is positioned beyond the edge of the mover  100  may be utilized to extend an end effector beyond the edge of the mover&#39;s working surface, thereby allowing mover product handling outside of the mover&#39;s working surface area. 
     In some embodiments a transfer device  210  is used to transfer a product  102 A to a mover  100 , a fixture  104 , or a product  102 B. In some embodiments the vertical actuator  210  rotates the product  102  with respect to one or more axis of rotation. Rotation around the vertical axis allows for non-circular products, which may require a particular orientation, to fit within the packaging  102 B. An additional rotation axis would allow the product  102 A to be placed at an angle into the packaging  102 B. In some embodiments each vertical actuator moves independently. In some embodiments multiple vertical actuators may utilize a single actuating element to actuate a shared degree of freedom for multiple vertical actuators  210 . 
       FIG. 11  shows a transfer device (vertical actuator)  210  according to one embodiment comprising a linear actuator (the linear actuator is aligned vertically with a securing mechanism  211  located at its end), and a rotating actuator  213  (the rotating actuator supports the linear actuator  212  and rotates it with respect to the Z axis). In operation, mover  100  (carrying a product  102 ) positions the product  102  beneath the securing mechanism  211 , then the securing mechanism  211  is moved by the linear actuator in the −Z direction until contact occurs between the securing mechanism and the product  102 . After the securing mechanism  211  is actuated to actively grip the product  102 , the linear actuator  212  moves the securing mechanism in the +Z direction to sufficient height for a further transfer device to be moved beneath the vertical actuator to receive the product. The rotating mount  213  allows the vertical actuator to deposit the product after rotating from an initial Z axis orientation to a new Z axis orientation. The combined motion of the vertical actuator  212  with the mover  100  will create analogous functionality as a SCARA robot, except with the packaging  102 B moving with respect to the fixed (in X and Y directions) product  102 A. 
     In another embodiment similar to the embodiment shown in  FIG. 11 , the mount  213  is fixed and does not rotate the securing mechanism  211  relative to the stator  200 . This embodiment would be suitable for handling circular products  102  or in cases where any yaw orientation of the product can be accommodated by larger receiving locations in the packaging  102 B. 
       FIG. 12  shows a transfer device (vertical actuator)  210  according to one embodiment comprising a linear actuator  212  (actuation in Z axis) and rotary actuating system  213  (rotation about Z axis), securing mechanism  211 , and an actuated revolute joint  214  (a secondary non-Z axis). This embodiment is capable of three DOF controlled motion, vertical, rotation about vertical axis and rotation about secondary revolute joint  214  (rotated perpendicular to Z-axis rotation). When the transfer device (vertical actuator)  210  is operated with movers  100 , each product  102  can be placed in a desired orientation at a position controlled by the mover  100  receiving the product. This embodiment&#39;s control of rotation about the vertical axis is useful for non-circular products which enter the infeed in a non-desired orientation. Using rotation about the vertical axis, the vertical actuator  210  can adjust product  102  orientation during deposition to match its placement within the packaging  102 B. In the case of a product entering the infeed upside down, when received by the vertical actuator a flipping operation can be carried out using the secondary rotation axis  214  of the vertical actuator  210  in this embodiment, by rotating the product 90 degrees or more before releasing the securing mechanism  211  and utilizing the movement of the mover  100  to set the product down on the desired side. This embodiment&#39;s secondary axis of rotation  214  may also be utilized when placing the product at a predetermined angle for packaging. Since this embodiment only features one secondary rotation axis  214 , if the secondary rotation axis is going to be used for non-circular products  102  the product must be picked up such that the secondary rotation axis is aligned with the required motion. 
       FIG. 13  shows a particular transfer device (vertical actuator)  210  embodiment comprising a motorized linear actuator  212  (actuated in Z direction), rotary actuator  213  (rotation about Z axis), a securing mechanism  211 , an actuated revolute joint  214 , and a servo or equivalent actuated revolute joint  215 . The actuated rotation axes may be aligned to create a spherical wrist for simpler kinematics. In this embodiment the combination of three actuated rotational axis allows for full orientation control limited only by each axes range. This embodiment&#39;s capability for orientation control allows a product  102  to be picked up with non-deterministic orientation and placed in any orientation required for the packaging  102 . The combined movement of the vertical actuator  210  and the mover  100  will result in analogous movement to a 6 DOF SCARA robot. In this configuration the transfer device (vertical actuator)  210  will fully compensate for the inherent limited vertical motion and rotation capabilities of the mover  100  for movement of product  102 A and packaging  102 B relative to each other. 
     As seen in  FIG. 14 , for the packaging infeed  230  product transfer subsystem there is an effective conveyor working surface  238  determined by the movement direction of the infeed and the lateral positionality of a product (packaging)  102 B on the infeed. The packaging carrying mover  100  also has a product conveying area  118  generally equivalent to the stator  200  working surface in this particular embodiment. At locations where the two generally parallel planes of the mover&#39;s working surface and conveyor&#39;s working surface overlap (along the Z direction) in a common region  119  a product transfer may be possible with a transfer motion. When the mover  100  moves to an overlapping position (aligns with respect to Y direction and X direction) underneath the product  102 B on the packaging infeed and synchronizes the mover&#39;s X position and motion with the product on the conveyor a transfer motion (+Z movement) may be used to transfer the packaging from the infeed to the mover. The mover  100 C with a fixture  104  moves underneath the parallel infeed belts  231  carrying products (packaging)  102 B. While maintaining the relative X/Y position of the mover to the product  102 B, the mover levitates at a high Z position to contact the product and lift it from the infeed belts, by moving in a direction aligned with the belt motion the end of the belts is reached. While the mover is carrying the product  102 B, the mover mounted fixture  104  supports and constrains the motion of the product (a shown in  FIG. 15 ). 
     A product outfeed embodiment is shown in  FIG. 16 , comprising a mover  100  (with a mover conveying area  118  generally equivalent to the mover  100  working surface for this particular embodiment where a carried product can be moved by the mover, not shown) the packaging outfeed  240  (with a effective conveyor working surface  248  determined by the movement direction of the outfeed and the lateral positionality of packaging on the outfeed). At locations where the two generally parallel planes overlap (along the Z direction) there is a common region  119  where a product transfer may be possible. When the mover  100  moves to an overlapping position, while carrying packaging (mover is underneath the packaging outfeed) a transfer motion (−Zm movement) may be used to transfer the packaging from the mover to the outfeed surface  241  while the mover maintains synchronous motion with the conveyor. 
     In some embodiments outfeed belts may be angled slightly to allow the outfeed to assist with lifting the packaging off the mover as it is actuated with matching speed by the mover/outfeed along its length. In some embodiments the outfeed surfaces may be inclined to create a lifting action as the mover pushes the packaging along the outfeed&#39;s length. 
       FIG. 17  shows a product outfeed embodiment utilizing an inclined chute to convey product along the outfeed 
       FIG. 18  shows an embodiment of product packaging comprising a piece of packaging  102 B and multiple products  102 A (arranged in a multi-product layout with products reoriented to be on edge. During a transfer process the packaging  102 B (a product designed to hold other products  102 A) for different applications requires the products to be reoriented before placement, and this particular embodiment requires each product to be rotated with respect to the X axis by around 90 degrees before being placed. This reorientation can be accommodated by embodiments such as the ones shown in  FIG. 12  and  FIG. 13  with an actuated revolute joint  214 . 
       FIG. 19  shows picking process embodiment comprising a mover  100  (carrying a product handling mechanism  110 ), an infeed  220 , a product  102 A (located on the infeed surface  221 ), and a stator  200  (not shown). During the picking process the mover  100  aligns the end effector  111  with respect to the Y position of the product  102 A on the conveyor working surface. The mover then matches the X position of the product  102 A with its end effector  102 A (during conveyor motion speed will typically also be matched). While the correct relative position of the mover  100  and product  102 A is achieved (the relative position is determined by the position of the end effector  111  relative to the mover  100 ) the end effector  111  is then moved in a −Z direction towards the product  102 A until contact occurs (a vacuum cup end effector  111  has some compliance to avoid damaging the product  102 ) through Ry rotation, −Z vertical movement or some combination. After contact occurs the securing mechanism is activated by the controller  70  (ie. the vacuum cup  111  is activated through a solenoid  114  regulating the vacuum line  113 ). After gripping the product  102 A the mover  100  lifts the securing mechanism  111  (particularly its end effector) and product  102 A with a +Z movement through Ry rotation, +Z movement or some combination. 
       FIG. 20  and  FIG. 21  show a placement process embodiment comprising a first mover  100 A (carrying a product handling mechanism  110 ), a second mover  100 B, a product  102 A (carried by the product handling mechanism  110  securing mechanism  111 ), and a stator  200  (not shown). During a placement process first mover  100 A will move to a position (first unloading location  108 A) relative to the receiving second mover  100 B (the relative distance is determined by the position of the securing mechanism relative to the mover  100 ) positioning the product  102 A directly over the second mover  100 B(positioned at second receiving location  107 B) top surface (mover  100 B may optionally be carrying a fixture  104  to support the product  102 ). Through −Z vertical movement of the end effector the product is moved until it contacts the mover  100  or reaches a safe vertical dropping distance. When the end effector  111  is vertically positioned over the second mover  100 B the controller  70  will deactivate the securing mechanism  111  (the vacuum cup  111  is de-activated through a valve  114  regulating the vacuum line  113 ), resulting in the securing mechanism  111  no longer gripping the product  102 A and the second mover  100 B fully supporting the product  102 . Mover  100 A will raise the securing mechanism to a vertical height sufficient to avoid incidental contact with the product  102 A through Ry rotation or +Z movement before moving away from mover  100 B (with X/Y motion). In this embodiment the first mover  100 A circulates between the product infeed receiving area (first loading location  107 A) and a inter mover transfer location (first unloading location  108 A), while the second mover  100 B circulates between the inter mover transfer location (second receiving location  107 B) and a unloading area  108 B. At the mover to mover transfer location the product held by the first mover at an elevated position is released to the second mover, thereby changing how the product is held by a mover allowing a subsequent transfer not initially possible from the first mover. The transfer process requires the coordinated motion of both movers, with each mover capable of independent 3DOF control. 
       FIGS. 22 to 24  show isometric and side views of an aided transfer process embodiment comprising a first mover  100 B (initially carries the product  102 A), a second mover  100 C (carries packaging  102 B to place the product  102 A within), a transfer device (vertical actuator)  210 , and a stator  200  (not shown). During a transfer process the first mover  100 A will move to a first unloading location (at a position relative to the transfer device&#39;s  210  securing mechanism  211 ) positioning the product such that the securing mechanism  211  will be able to grip effectively at a known position. The vertical actuator  110  will lower the securing mechanism though a linear actuation of an actuator  212  in −Z direction. After contact occurs between the product  102 A and the securing mechanism  211 , the controller  70  will actuate the securing mechanism  211  to grip the product (for a vacuum cup securing mechanism a valve  216  will be actuated to control a vacuum line  217 ). While gripping the product  102 A the securing mechanism  211  will be moved in a +Z direction to a sufficient height for mover  100 B and the packaging  102 B being carried by it to move underneath the securing mechanism  211  (to a second receiving location  107 C) while avoiding any incidental contact. When mover  100 B has positioned the packaging  102 B relative to the product  102 A then the securing mechanism is lowered with a −Z motion until either contact occurs between product  102 A and packaging  102 B or the product is at a suitable height, and at this point the product  102 A is released by the securing mechanism for placement in the packaging  102 B. After this occurs the securing mechanism will move in a +Z motion to avoid incidental contact. Although the first mover is shown carrying a single first product, this is not necessary and additional first products  102 A could be carried by a first mover  100 B and transferred to a second mover  100 C. Similarly the second mover is shown carrying a single second product, this is not necessary and additional second products  102 B could be carried by a second mover  100 C. 
     Generally a second product  102 B is not limited to a particular form such as packaging and may be anything. 
     In another assembly application, the mover/stator system may be used in the automation of packaging where products need to be arranged into a particular pattern for packaging and by pre-arranging products relative to each other on a single mover and/or arranging movers carrying products relative to each other. This method of arrangement allows for rapid transfer to packaging using simple one or more degrees of freedom actuation such as in a gantry system. 
       FIG. 1  describes a robotic system  900  according to a particular embodiment. An alternative assembly system shown in  FIG. 25  comprises a stator  200  and a mover  100 , one or more controllers  70 (not shown), and one or more sensors  80  (not shown). The system further comprises an infeed  220 , an outfeed  240 , and a transfer mechanism with at least 1 degree of freedom  210 . The mover  100  may optionally be fitted with a load securing mechanism  120 . 
     In this embodiment, a product  102 A is delivered by the infeed  220  to the system  900 . The system uses one or more movers  100  to receive the product  102 . The mover  100  may comprise a load securing mechanism  104  that allows it to receive one or more products  102 A easily. The load securing mechanism  120  may allow multiple products to be deposited onto a single mover  100 , though this is not necessary. The product  102 A is then transferred to the outfeed  240  by one or more movers  100  through a transfer mechanism  210 , where it is deposited onto the outfeed  240 . 
     In some embodiments, the system further comprises an inspection station. In the event wherein a first product  102 A carried by a first mover  100 A is defective, the first product will be removed, and the first mover will be routed to a desired destination for processing. For example, the first mover may be sent to the infeed area and receive a replacement product  102 A. A second mover  100 B carrying a satisfactory product  102 A may replace the first mover in the workflow, without disrupting the process. 
       FIG. 25  shows multiple movers arranged on the stator surface  200 . Each mover  100  can be positioned in a queueing area to await further instruction. The queuing area allows the movers carrying products to pre-arrange into the desired configuration or a simplified version of that configuration while the outfeed is still occupied with unloading the previous set of products. The queuing area may also provide a buffer functionality if there is some variability in the infeed so the outfeed can maintain a consistent packaging rate. In some other embodiments, the mover  100  is moved directly to the unloading area  241 . A mover  100  can be sent to the outlet of the infeed system to receive a new product any time the mover has an available bay to receive a new product. 
       FIG. 26  shows a product infeed embodiment comprising one or more movers  100  (with load securing fixtures  104  for carrying a product  102 ), a package infeed belt  221 , a inclined chute  222  (inclined at an angle theta relative to the mover working surface) and stator  200 . For this embodiment a loading motion is a mover  100  enters the loading area  229  on the stator surface and waits for a product  102 . The products are moved along the infeed&#39;s  220  belt surface  221  before reaching a inclined chute  222  (inclined at an angle theta sufficient to ensure smooth motion along the chute with or without initial momentum depending on the application), which optionally centers the product as it slides along the chute surface to align the product with respect to a Y direction position corresponding to the load securing fixture  110  carried by the mover  100 . Generally a receiving mover  100  will align itself with respect to the fixed or variable Y position of the product&#39;s receiving location. The mover  100  moves in the product&#39;s  102  direction of motion (conveying direction of chute, which is -X direction for this particular embodiment) as the product goes from the inclined chute  222  surface to the fixture  110  to assist the loading operation. In this particular embodiment the chute&#39;s conveying direction is aligned with the conveyor belt, this is not necessary. When the mover&#39;s  100  fixture  110  securely holds the product  102  it will move to the next area of the process. The chute (or outlet) is located above the working surface allowing gravity to feed the products. A gap between chute and working surface permits the mover to pass through in time to catch the product, where this particular embodiment&#39;s stator working surface overlaps along the inclined chute&#39;s normal direction, this is not necessary but has certain mover pre-positioning advantages 
     In some embodiments, the product  102  passes through an infeed singulator mechanism  222  before it is deposited onto the mover  100 . It is not necessary for the singulator mechanism to be placed at the end of the infeed  220  if utilized. Herein the infeed  220  is considered to contain all the non-mover components required to deposit a product onto a mover  100 , though additional components may not be necessary. The mover  100  is sent to the correct locations to capture the product from the infeed  220 . The mover  100  may be programmed to move in a way to assist the product capture process. In some embodiments, the mover  100  is fitted with a load securing mechanism  120  to secure the product or assist with the capture process. In some embodiments, the mover  100  may carry only one product  102  at a time. In other embodiments the mover can carry plural products at a time on multi-carrier means*, by adjusting its position after capturing a first product  102 , so that a second product  102  can be deposited onto the mover  100  at a second slot or location on that mover. If desired, the mover  100  can be used this way to create a desired product layout  219  directly on top of the first mover. 
     Generally the inclination angle of an inclined chute for products with no initial momentum will be greater than the angle of repose (sliding angle) of the product on that chute. 
       FIG. 27  shows a product carrying mover  100  embodiments with and without a load securing fixture  104 . A mover  100  embodiment without a fixture as shown in  FIG. 3A  relies on the friction between the mover  100  and the product  102  to limit the motion of the product  102  relative to the mover  100 , therefore while carrying a product  102  these movers  100  are limited to low acceleration and deceleration motion and products should generally have a low center of gravity. A mover  100  embodiment with a load securing fixture  104  relies on the fixture to constrain the horizontal motion and tilting of the product  102  relative to the mover  100  and this particular load securing fixture  104  embodiment is a raised perimeter encircling the product thereby providing support for all planar directions of motion. 
       FIG. 28  shows an embodiment of a mover  100  carrying multiple products  102  arranged in a layout  219  of pitch_x and pitch_y. The loading process for this embodiment may be completed by repeating the loading process for a single mover at different loading positions for plural products  102 . This embodiment may also use a load securing fixture  104  to locate each product  102  with respect to the mover  100  in a predetermined layout  219 . 
     In some embodiments, the system further comprises a plurality of infeeds  220 .  FIG. 29  shows an embodiment with a first infeed line  220  and second parallel infeed line  220 B each comprising one or more movers  100  (with load securing fixtures  104  for carrying a product  102 ), a package infeed belt  221 A/ 221 B, a inclined chute  222 A/ 222 B and stator  200 . The first mover has the flexibility to capture products from multiple infeeds, for example, it  100  may capture product (s)  102  from the first infeed  220 A, as well as the second infeed  220 B in a subsequent loading operation. The first mover  100  may carry product (s)  102  from the first  220 A and second infeed  220 B simultaneously, but this is not necessary. The product from the first infeed may be different from the product from the second infeed, though this is not necessary. The use of multiple infeeds can increase overall productivity by allowing multiple parallel loading processes to occur simultaneously or allow each infeed to be operated at slower speeds to assist the loading process motion. 
       FIG. 30  shows examples of different product arrangements  219  created by the movers  100 . Whether in the queueing area or the unloading area, the first mover  100 A and the second mover  100 B could be positioned with minimum allowable spacing between them, or they could be positioned so the spacing between them is some desired value as determined by the user. In some embodiments, the system further comprises a third mover  100 C. The third mover  100 C may be used in conjunction with the first  100 A and second mover  100 B to create a desired product layout  219  in one or more dimensions. For example, they may form a straight line, or a triangle, etc. Additional movers may be used to create a desired product layout  219  of arbitrary shape and size, working region space permitting. 
     It should be noted that the dimensional axes of the desired product layout  219  do not need to overlap with the working region axes of the system. Arranging the products into a desired product layout  219  can be accomplished in the queueing area, or directly in the unloading area  241 . 
       FIG. 31  shows an embodiment of the outfeed for the process comprising one or more movers  100  (carrying one or more products  102 A), a two-axis gantry  210  (comprising a vertical and secondary linear degree of freedom with an arrangement of one or more securing mechanisms  211 ), an outfeed  240  (carrying multiple incoming empty packages  102 B distributed along its surface  241  at a predetermined spacing). During the unloading process each mover  100  will position itself in a transfer area  212  underneath the gantry system  210  in a layout  219  consisting of one or more movers  100 , then the gantry will be lowered until each product  102 A is contacted by a securing mechanism  211 . The gantry securing mechanisms  211  will be activated to grip each product  102 A securely before the products are lifted vertically off their respective mover  100  and horizontally moved over one or more pieces of packaging  102 B, which each product is lowered and released into. Generally, the layout  219  will be related to the incoming empty package  102 B spacing on the outfeed  240  and the dimensions of each packaging  102 B. 
     In some embodiments the outfeed may be operated at a constant speed with products deposited into moving packaging. In some embodiments the outfeed speed will be slowed or stopped during product deposition. In some embodiments selective packaging will be slowed or stopped relative to the outfeed during product deposition. In some embodiments packaging will be foregone and products will be directly deposited on the outfeed surface  241  or in conveyor compartments distributed along the outfeed surface. 
     In some embodiments, a first product  102 A is placed into a first outfeed container  102 B. In other embodiments, two or more products  102 A are placed into the outfeed container  102 B. The products  102 A may optionally have a desired pitch in at least one direction inside the outfeed container  102 B. The desired pattern of products  219  inside the outfeed container  102 B is referred herein as desired product layout  219 . In some embodiments, it is possible to create two or more different desired product layouts with no changeover on the system  900 . 
     At a desired time, the mover(s)  100  are positioned inside the unloading area. The mover(s)  100  may be arranged in some desired product layout  219 , and the product (s)  102 A carried by them are transferred to the outfeed  240  by a transfer mechanism  210 . In some embodiments, the transfer mechanism  210  is a robot with 2 or more degrees of freedom, using a picker to transfer the product from the mover  100  to the outfeed  240 . Typically, the outfeed is carrying one or more package(s)  102 B to hold the products, though this is not necessary. 
       FIG. 32  shows embodiments of packaging with multiple pick operations conducted by the transfer mechanism  210 . Multiple pick operations allow products  102  to be placed closer than allowed with a single pick operation. For movers  100  carrying a single product  102  the minimum spacing would normally be based on the mover&#39;s overall dimensions, however a subsequent picking operation would allow a product to be placed adjacent to a previously picked product or some distance between the minimum distance and the mover&#39;s minimum center to center distance. In cases where multiple products  102  are carried by a single mover  100  a distance closer than the product fixture  120  spacing could be achieved up to and including direct product contact. 
     In cases where a first mover  100 A is carrying more than one product  102 , it is desirable for the transfer mechanism  210  to transfer all products carried by the first mover  100 A simultaneously. For example, in embodiments where the first mover  100 A is carrying two or more products 102 , the transfer mechanism can transfer a first product from the first mover  100 A to the outfeed  240  during a first pass, then transfer a second product from the first mover to the outfeed during a second pass. Between the first pass and the second pass by the transfer mechanism  210 , it is possible to reposition the first mover  100 A to a new desired position. In embodiments where there is a second mover  100 B carrying two or more products  102 , it is possible for the transfer mechanism  210  to transfer the first product from the first mover together with a third product from the second mover during the first pass. The first product and the third product are spaced by a first desired pitch  219 A. The first mover and second mover can then reposition themselves such that the transfer mechanism will pick up a second product from the first mover and a fourth product from the second mover. The second product and the fourth product are spaced apart by a second desired pitch  219 B. It is possible for the first desired pitch to be different from the second desired pitch, though this is not necessary. The gripping elements of the transfer mechanism may optionally be independently controlled to allow for selective picking of products where more products than desired are within the pickup area. 
       FIG. 39  shows an un-singulated infeed  220  embodiment comprising an infeed  220  (the infeed contains multiple products  102  distributed unevenly over the infeed surface  221  and a inclined chute  222  for the products to move from the infeed to a mover  100 ), one or more movers  100  (carrying a load securing fixture  104 ), a sensor  80  (ie. overhead camera system, not shown) and a stator  200 . The incoming products  102  on the infeed belt and subsequent inclined chute have varying Y positions. An un-singulated infeed  220  may be used for reasons such as reduced cost or to allow multiple product  102  loading processes to occur at once. An un-singulated embodiment requires the usage of sensors  80  such as a vision-based system to track the position of products  102  traveling along the infeed  220  and send movers  100  to align themselves with the product along the Y direction and utilize X direction movement (position and speed matching) along the conveying direction to intercept and capture them as they descend along the inclined chute (at an incline theta, sufficient to ensure smooth motion) to the stator  200  surface. This embodiment utilizes a chute running over (overlapping along the chute&#39;s working surface normal) a portion of the stator  200  surface to allow movers  100  to move to positions in the loading are  221  without obstructing the loading process for other movers  100  or being blocked by movers waiting for a product  102  to arrive. The embodiment would adjust the timing and positioning of mover&#39;s  100  receiving products  102  to compensate for variability in the product frequency and conveyor positioning of incoming products. Such a system may also include a variable speed infeed to speed up or slow down the infeed to a suitable high rate achievable by the movers. 
     In the embodiment shown in  FIG. 39 , to perform a transfer with a workpiece  102  moving along the chute  222  (simultaneously descending to the stator surface) the mover  100  must intercept the product (align along X and match Y position) and match horizontal motion (X direction). A successful interception utilizes precise timing and movement to rapidly accelerate the mover to simultaneously achieve synchronous position and motion (horizontal motion component) with a workpiece while the workpiece&#39;s relative Z position to the mover decreases until contact occurs with the mover and the workpiece transfer from the infeed conveying system to the mover. In contrast waiting for a workpiece descending along the chute requires additional devices to arrest the horizontal motion of the workpiece (preventing tipping for high center of gravity products) and encourage settlement of the workpiece on the mover with additional accelerating motion time to leave the area after receiving, thereby negatively effecting throughput. 
       FIG. 40  shows a transfer mechanism  210  embodiment for flexible layouts comprising a gantry system with two or more axis of motion, and comprising a plurality of securing mechanisms  211 . In this embodiment a large number of gripping elements  211  are spaced out so that for any possible position in the pickup area  212  there will be one or more gripping elements able to secure each product  102 . Such a system would provide complete flexibility within its size constraints for users to alter configurations  219 . Additionally, this embodiment could include selective control of groups of one or more gripping elements to selectively control the pickup and/or release of individuals or groups of products for increased flexibility. 
       FIG. 45  shows a particular embodiment of the process  910  comprising a stator  200  (with a static actuating surface  250 ), a mover  100  (each carrying a rotatable load securing mechanism  110 ), one or more controllers  70 , and one or more sensors  80  (not shown). The system further comprises an infeed  220 , an outfeed  240 , and a transfer mechanism with at least 1 degree of freedom  210 . During the loading process a sensor  80  (e.g. camera system) is used to measure the orientation of each product loaded onto a mover  100  and based on the required orientation of the product for packaging each rotatable load securing mechanism  110  interacts with the static actuating surface  250  and is actuated the required amount through motion of the mover with respect to the static actuating surface. In some embodiments, each mover may rotate the rotatable load securing mechanism to a particular orientation before loading occurs. 
       FIGS. 45 and 46  show an isometric and top view of the rotatable load securing mechanism interacting with the static actuating surface. In this particular embodiment the rotatable load securing mechanism is prevented from rotating by a locking mechanism which unlocks when the rotatable load securing mechanism is engaged with the static actuating surface  250  (through a +Y movement resulting in contact) and during engagement the mover motion in +X will result in +Rz rotation and motion in −X will result in −Rz rotation. After rotating to the correct position the mover  100  will move in −Y direction to disengage and lock the rotation of the rotatable load securing mechanism  110  and product  102 . The addition of orientation control allows each product to be packaged in the same orientation or a set of different predetermined orientations. 
       FIG. 33  describes a robotic system  900  according to a particular embodiment. The system comprises a stator  200  and movers  100  (comprising a first group of one or more first movers  100 A and a second group of one or more second movers  100 B), one or more controllers  70  (not shown), and one or more sensors  80  (not shown). The system further comprises an infeed  220 , an outfeed  240 . The mover  100  may optionally be fitted with a load securing mechanism  104 . The system may optionally comprise a package forming/deposit tool  230 , a package sealing tool  250 , package release mechanism  260 , and a robotic arm with at least 1 degree of freedom  210 . 
     In this embodiment, products  102 A are delivered by the infeed  220  to the system  900 . The system uses one or more first movers  100 A to receive the products  102 A in retaining bays. A first mover  100 A may comprise a load securing mechanism  104  as tooling that allows it to receive one or more products  102 A easily. Each retaining bay of the securing mechanism  104  is shaped to receive product at an opening and constrain the product in at least two dimensions The load securing mechanism  104  may allow multiple products  102 A to be deposited onto bays of a single mover  100 . The product  102 A is then transferred to the outfeed  240  by one or more movers  100 B, where it is deposited onto the outfeed by a release mechanism  260 . 
     After the first mover  100 A receives the first product(s)  102 A (at a first receiving location  107 A), it travels to unload the first product  102 A (at a first unloading location 108 A) via a transfer device  210 , where the first product(s)  102 A are removed from the first mover  100 A to the transfer device. In this embodiment, a single axis robot  210  is used, though additional axes are possible. After unloading the first mover  100 A may then move away from the transfer station to a queuing location  109 A, before receiving additional first product  102 A at the first receiving location  107 A for additional transfer(s) . A second mover  100 B carrying one or more second products  102 B (packages) (received prior from a second transfer device  230  at a third receiving location  109 B) goes to a second receiving location  107 B, where one or more first products  102 A are received from the transfer device  210 . In this particular embodiment the first unloading location  108 A and second receiving location are collocated, however this is not required. If the transfer device has more than one DOF (ie. X or Y movement in addition to Z movement) a position offset between a first unloading location  108 A and second receiving location  107 B can be achieved. The transfer device  210  (actuator/robot) generally deposits the first product(s)  102 A into one or more second products  102 B (packages). The second mover  100 B can repeat this transfer process as many times as needed until a desired number of first products  102 A are placed in their desired positions inside the one or more second products  102 B carried by the second mover  100 ′, creating a desired layout  219 . After receiving the one or more first products  102 A transferred from one or more first movers  100 A, a second mover  100 B may go to a second unloading location  108 B (to unload carried first products  102 A and second products  102 B). In this particular embodiment the second product  102 B with contained first product(s)  102 A is transferred to an outfeed  240  by the package release mechanism  260 . 
     In some embodiments a full array of first products  102 A may be transferred from one or more first movers  100 A to create a complete layer of first products (placed into a second product  102 B) through a single transfer. Transferring a full layer can prevent unwanted first product movement inside of the second product and achieve a high throughput 
     Generally at least one degree of freedom is required for the transfer device with preferred motion along the Z direction or mover working surface normal and additional degrees of freedom typically providing more flexibility. 
     It should be noted that the flexibility of this novel assembly system allows a nearly infinite number of ways to fill a package  102 B with products  102 A. One method for arbitrary product placement is to pick up one first product  102 A at a time using the transfer device  210  (robot arm), then position the second mover  100 B accurately such that the robot arm can deposit the product  102  into the desired position in the package  102 B one by one. An extension from this method is to place multiple products onto the first mover  100 A, such that the robot arm  210  can pick up multiple products 102  at the same time. Furthermore, if the gripping elements of the transfer mechanism can be independently actuated or actuated in some subsets it is possible to selectively pick up and release products to achieve even more placement flexibility. 
     In the embodiments of  FIGS. 38, 41, 42 and 43 , the package (second product)  102 B carried by a mover  100  may be optionally clamped to the mover through a clamping mechanism  110 . This mechanism comprises two or more clamping surfaces  116 A/ 116 B to be adjusted relative to one another along a clamping direction to vary the clamping distance  117 , by the motion of the mover. In a particular embodiment, the mechanism can be engaged with a second mover then adjusted by a movement, or the mechanism may be engaged by contacting the engaging element with a stationary object  201  (external to the mover and stator) then adjusted with a pushing motion towards the stationary object. When the engaged mechanism is moved sufficiently towards the stationary object, the package clamping mechanism  110  is opened (clamping surfaces  116 A and  116  B moved apart) providing a large enough clamping distance  117  in the open position to accept a new package  102 B, which may be from a box forming mechanism  230 . When the mechanism is closed by moving the mover  100  sufficiently away from the stationary object  201 , the package clamping mechanism  110  may be closed by internal forces (opposed by external forces from the external object  201  during engagement) from a resilient deformable element  121  (creating a normally closed bias), with sufficient restoration force to hold the package  102 B in place while disengaged from the external object. The process may be repeated to open the package clamping mechanism  110  for removal of the package  102 B from the mover  100  during an unloading process. In some particular embodiments (as shown in  FIGS. 41 and 42 ) the engaging element may be an object  103  mounted to a second mover  100 B and the relative motion of movers may be utilized to create engagement between the clamping mechanism and the mover mounted object  103 , followed by adjustment of the clamping surfaces  116 A/ 16 B clamping distance by relative motion. 
     The specific form of the clamping mechanism  110  may take various forms for example 
       FIG. 38  shows an embodiment where one clamping surface  116 B is fixed relative to the mover body (magnetic components) and a second clamping surface is movable along the Y axis relative to the mover. Although this particular embodiment describes a subset of the clamping surfaces being fixed, In various other embodiments all of the two or more of the clamping surfaces may be moveable relative to the mover body(magnetic components). When this particular embodiment&#39;s clamping mechanism is engaged with an object external to the mover (at the −Y edge of the mover) The movers relative position along the Y direction with respect to the object may be varied to directly vary clamping surface  166 A position relative to the mover thereby varying the clamping distance  117  (the distance between two clamping surfaces  116 A and  116 B) continuously (where the clamping distance is a continuous smooth function of the relative position between the mover and the object during engagement). In this particular embodiment the mechanism is biased towards closing (decreasing clamping distance  117 ) through a resilient deformable element. 
     An alternative form of the clamping mechanism  110  for example is shown in  FIG. 41 through 44  comprising two independent movable clamping members  110 A/ 110 B, each rotatable with respect to an axis fixed to the mover and comprising a clamping surface for engaging with a product  102 B. Although two movable clamping surfaces are shown a single movable clamping surface or additional clamping surfaces are also acceptable. While engaged with a stationary external object the relative motion along X direction of the mover adjusts the rotation of the one or more rotating members thereby varying the relative clamping distance between the two or more clamping surfaces. In the case of the two movable rotating members for this particular example the opposite rotation of each clamping surface generates a controllable increase or decrease of the clamping distance. 
     Generally the clamping mechanism  110  engagement with an external body is utilized to adjust the clamping distance  117  for the two or more clamping sides  116 . An additional latch may be used to temporarily lock the clamping mechanism to achieve a particular clamping distance  117  or clamping force, such a latch provides additional flexibility during an unloading or loading process. Although the clamping direction is generally described as decreasing the clamping distance to achieve a closed position this is not necessary. In some particular product embodiments the clamping surfaces must separate to provide an outwards clamping force on a product. 
     After the package has achieved the desired product layout  219  of products  102 A placed by the transfer device  210  (vertical actuator), the mover  100  may optionally be sent to additional processing stations. In some embodiments it is sent to an inspection station  270 . In some embodiments, it is sent to a package folding/sealing station  250 , where the package is sealed (may include box folding or closing processes for certain packaging types). Eventually, the mover  100 B is sent to the outfeed station  240 , where a package release mechanism  260  may be used to transfer the package  102 B from the mover  100  to the outfeed  240 . 
     In one non-limiting example, the robotic system is used to place one or more products  102 A into a package  102 B.  FIG. 33  shows an embodiment of the infeed loading process comprising one or more mover  100 A (each carrying a fixture  120 , with retaining bays for each product  102 A to be held), a infeed  220  (a belt surface  220  which drives products into a aligning device  222  before loading occurs) and a stator surface  200 . A first mover  100  receives the products  102 A by moving to one or more receiving locations  107 A at the infeed  220 . By controlling the first mover&#39;s  100 A position carefully, multiple products  102 A can be loaded onto different positions on the first mover  100  without adjusting the infeed position  220 . The relative position between the products  102 A on the same mover may match the final desired position of the products in the package  102 B, though this is not necessary. While multiple products  102 A can be loaded onto the first mover  100 A in this embodiment, it is not necessary. Although the first mover and second mover are shown to be the same dimensions, this is not necessary. For example a first mover may receive eight first products requiring a longer first mover dimension to adequately support the carried products and those first products may be loaded four at a time to a second mover which has a different X dimension or Y dimension corresponding to the desired product layout  219  and payload (mover size dependent) of first products and second products carried by the second mover. An appropriate choice of mover (as small as possible usually) for carrying the desired first product(s) or second product(s) can reduce the overall system size or allow a larger quantity of movers to operate in the same working region. 
     Generally a first mover  100 A and second mover  100 B will comprise specific tooling designed to accommodate their respective first product(s) and second product(s) based on the quantity, receiving/unloading manner and layout of the product for that mover. Additionally since a first product  102 A and second product  102 B may geometrically differ the first tooling and second tooling are expected to differ accordingly. 
       FIG. 34  shows a product infeed embodiment, comprising a  220  (a belt surface  220  which drives products into an aligning device  222  before loading occurs) and one or more movers  100  (each carrying a fixture  120 , with retaining bays for each product to be held), and a stator surface  200 . A first mover loads its first bay by positioning the bay at the opening to the product infeed and waits to receive the product. After receiving a first product the process will be repeated to fill each retaining bay. After a first mover has filled each retaining bay the mover will move to an unloading location while a second mover moves to the product infeed from an intermediate queuing location  109 A and repeats the overall loading process. Constraining the path of products through the infeed (with a aligning device  222  and prior singulation) is not required, but results in a predictable loading location may be achieved limiting unnecessary movement (thereby increasing potential throughput) during the loading process. 
     To achieve a seamless high throughput loading process requires synchronized indexed receiving motion of the movers. During loading two movers will be positioned at the loading area of the product infeed, one currently loading and a subsequent mover ready to load next (positioned at an intermediate queuing location  109 A). Each loading process will synchronize the motion of the mover to the arrival of each product during the loading process utilizing one or more sensors  80 . By identifying the moment of loading a corresponding receiving motion may be performed (ie. a mover moves along direction of motion to reduce impact during loading) or feed-forward force control to counteract the impact, before indexing to the next position (to await next product loading in bay or synchronized to arrive at the moment of loading). 
       FIG. 35  shows a packaging layout  219  embodiment comprising a package  102 B (partially filled with products  102 ), a mover  100  (carrying the package  102 B with a clamping mechanism  210 ) and a stator surface  200 . In this particular embodiment an array of products  102  has already been deposited in the package  102 B and an additional array of products 102  may be placed on top matching the previous array or in a new arrangement according to the packaging layout  219 . The gripping mechanism for this particular embodiment comprises a fixed clamping side  116 B and a movable clamping side  116 A, which together secure the package between their respective clamping surfaces when in a closed position by applying a securing force on the product along their clamping direction (the securing force may be generated by the restoration force of a resilient deformable element  121 ). 
       FIG. 36  shows an embodiment of the transfer station comprising a mover  100 A (carrying one or more products  102  held by a load securing mechanism  120 ), a mover  100 B (carrying one or more packages  102 B held by a package clamping mechanism  110 ) and a stator  200 . After the first mover  100 A receives a first product  102 A), it travels to the transfer device  210 , where the product (s)  102  are removed from the first mover  100 A (while positioned at a first unloading location  108 A). The transfer device (gantry)  210  actuates the securing mechanisms in a −Z direction until contact occurs with each product, then the securing mechanisms are activated to securely hold each product  102  and lift them from the mover with a +Z motion. In this embodiment, a single axis robot  210  (transfer device) is used, though additional axes of actuation are also acceptable. The first mover  100 A may then move away from the transfer station, and a second mover  100 B moves to the transfer device (gantry)  210 . The second mover  100 B may be carrying one or more packages  102 B. The transfer device (gantry)  210  then deposits the product (s)  102  into the package  102 B (while the second mover is at a second receiving location  107 B). The second mover  100 B can repeat this process as many times as needed until a desired number of products  102  is placed in their desired positions inside the one of more packages  102 B carried by the second mover  100 ′, creating a desired layout  219 . 
     In some embodiments, the products  102  could be arranged in more than one layer, where each layer is positioned in the same way as the products on the first mover  100 . In other embodiments, each layer may require more products than carried by the first mover  100 A at one time, in these embodiments, a subsequent number of one or more movers  100 A may be used, or the first mover  100 A may be used multiple times to deposit items into the second mover&#39;s  100 B package  102 B consecutively. 
     It should be noted that the flexibility of this novel robotics system allows a nearly infinite number of ways to fill a package  102 B with products  102 . One method for arbitrary product placement is to pick up one product  102  at a time using the robot arm  210 , then position the second mover  100 B accurately such that the robot arm can deposit the product  102  into the desired position in the package  102 B one by one. An extension from this method is to place multiple products onto the first mover  100 , such that the robot arm  210  can pick up multiple products  102  at the same time. Furthermore, if the gripping elements of the transfer mechanism can be independently actuated or actuated in some subsets it is possible to selectively pick up and release products to achieve even more placement flexibility. 
       FIG. 37  shows multiple movers  100  used in conjunction to create an array of products  219  that can be picked up simultaneously by a gantry. The arrangement  219  is a layout that can be arbitrarily defined by changing the spacing between the first and third mover  100  or first and second mover. Similarly, a fourth mover  100  can be used together with the first, second and third movers, to create a 2-dimensional array of parts. The distance between the movers can be adjusted as desired to achieve the desired layout pattern, with as many movers as required. 
       FIG. 41 / 42  shows an embodiment of a box carrying mover loading process comprising two movers  100 A/ 100 B (the first mover  100 A carries a package clamping mechanism  110  ,while the second mover  100 B comprises a fixed surface  103 ), and a package  102 B. During the loading process the package clamping mechanism  110  carried by the mover  100 A is actuated by the second mover&#39;s  100 B fixed surface  103  engaging (pushing against) the package clamping mechanism and while engaged the relative position is changed thereby opening the mechanism(separating the the two clamping sides  116 A/ 116 B with a clamping distance  117 ) so a box can be placed on the mover  100 A between the two clamping sides  116 A/ 116 B. After the package  102 B is loaded on the mover  100 A (ie. by a box forming mechanism  230  shown in  FIG. 33 ) the second mover  100 B will move away from the first mover  100 A allowing the resilient deformable elements (restoration springs)  121 A/ 121 B to return the package clamping mechanism  110  to a closed position (clamping sides  116 A/ 116 B moved together reducing the clamping distance  117 ) thereby gripping the package  102 B preventing movement relative to the mover  100 A. 
       FIG. 43  shows an embodiment of the package clamping mechanism  110  comprising a mover  100 , a package clamping mechanism  110  (the clamping mechanism is composed of a fixed portion and a moving portion actuated when pushed against a surface and loaded with a resilient deformable element  121 ), a package  102 B, and a fixed surface  201  mounted to the stator  200 . To open the box when loading a package the package clamping mechanism  210  is pushed into the fixed surface  201  thereby opening the clamping mechanism and after the package  102 B has been loaded, the mover  100  will move away from the fixed surface  201  allowing the resilient deformable element  121  (restoration spring) to return the clamping mechanism  110  to a clamping state. During unloading the mover  100  will approach the fixed surface  201  and push the clamping mechanism  210  against it to open the clamping sides  116 A/ 116 B of the mechanism thereby allowing the package release tool  260  to transfer the package to the outfeed  240 . 
     The particular embodiment shown in  FIGS. 41-44  comprises two rotating members  110 A/ 110 B, where one side may contact (engage) a surface (of an external object) and the other side is a clamping side  116 A/ 116 B which can grip a product between the two clamping sides. While engaged with an external object  201  the rotating members  110 A/ 110 B rotational position (with respect to the mover) is altered as a function of the relative position of the mover to the external object. The particular embodiment shown is normally closed and opened with relative X movement while engaged generating opposing rotation thereby decreasing or increasing the clamping distance of the clamping surfaces  116 A/ 116 B. 
     In an embodiment utilizing a package clamping mechanism  110  shown in  FIGS. 41-44 , a box carrying mover unloading process comprises a mover  100  (with a product securing mechanism  110 ), a package  102 B, a fixed contact surface  201 , a unloading actuator  260  (see  FIG. 33 ) and an outfeed  240 . During an unloading motion the mover  100  will move towards the fixed contact surface  201  until the package clamping mechanism  110  contacts the fixed surface  201  and each arm is rotated (around a bearing element) to an open position (package clamping sides  116 A/ 116 B move apart). After the package clamping mechanism  110  is opened an unloading actuator  260  will push the package through the gap  117  between the package clamping sides  116 A/ 116 B over the fixed contact surface  201  to the outfeed  240 . After unloading has occurred the mover  100  will move away from the contact surface  201  allowing the package clamping mechanism  110 A/ 110 B rotary arms to return to a closed position (clamping sides move together) actuated by each rotary arm&#39;s resilient deformable element (restoration spring)  111 A/ 111 B (biased to closing). 
     Generally a particular clamping mechanism will have an associated clamping distance  117  range (minimum and maximum distance), clamping direction, natural position (ie. normally open, normally closed, etc.) and clamping forces. Each particular clamping mechanism  110  design will be suitable for certain products and applications. 
     The system  900  permits changes to the product  102 A, package  102 B and desired product layout  219  with minimal effort. The mover  100  can be fitted with a flexible load mechanism  120  that can be swapped out easily, or the load mechanism  120  can be configured to accept different product layouts. For example, it can load only the desired number of products during each trip to the infeed station  220 . 
     After changing the product requirement, the only change in transferring the products  102 A to the package  102 B would be programming changes to let the movers go to the loading/unloading locations. By making these minor changes or pre-programming, it is possible to easily adapt the system  900  for many different products  102  and packaging configurations  219 , with minimal downtime. 
     The assembly system  900  (such as the one shown in  FIG. 33 ) permits the use of force measurements from the control of each mover to determine the weight of each product to assess product quality issues. In addition, the measured force impact and/or change in mass may be utilized to indicate that a product has been received, interacted with or unloaded triggering subsequent actions. By avoiding the use of a timing sequence for the infeed it is possible to achieve more consistent performance tolerant to some variability. With a more robust action triggering control of the system should result in an easier setup process, while being more predictable and reliable. 
       FIG. 47  shows a robotic assembly system  900  according to a particular embodiment. The system comprises plural connected stators  200  (arranged in one or more sets of working regions with respective working surface inclined from vertical) and one or more movers  100  (carrying an actuated product securing mechanism  110  situated on the inclined stators), one or more controllers  70  (not shown), and one or more mover sensors  180  (not shown). The system furthermore comprises an unsorted infeed  220  (with respective conveyor working surface), a product sensor  80  (not shown) to determine product  102 A locations on the infeed surface  221 , and a packaging outfeed  240  (additional horizontal stator  200  working region, or alternative horizontal transfer device capable of carrying workpieces  102 A or packaging  102 B). A picking mover  100  operates on an inclined stator  200  working region while carrying an actuated product securing mechanism  110  (with active end effector  111 ) mounted to the mover and positioned past the edge of the mover. Extending the end effector  111  to a suitable offset relative to the mover allows the end effector to coincide with the infeed surface  221  region during a picking motion (picking with Xs movement, aligned with Ys movement). By utilizing the translation movement of the mover  100  to actuate the picking motion, high-speed picking, speed matching, low shear on the product  102 A and a relatively large z stroke of the end effector can be achieved. To compensate for excessive Z movement a compliant mechanism may be used (compliant along Z/Xs), additionally the mover&#39;s end effector (ie. vacuum cup) may actuate the workpiece with a Z motion. After successfully picking the moving workpiece  102 A from the unsorted infeed  220  the mover  100  may utilize its movement (Ys axis movement) to position the workpiece with respect to the outfeed (potentially coordinating movement with the outfeed to achieve a desired X position) before releasing the workpiece to the outfeed (optionally being received by packaging  102 B). The product  102 A may be arranged in stacks, patterns etc. as required by a particular application. When the picking mover  100  releases a product to another mover operating at the outfeed  240  the coordinated movement may be utilized to drop a product  102 A deep into receiving packaging  102 B by matching the horizontal (X axis) component of the inclined movers (Xs axis) movement. Multiple movers  100  may be utilized on a single inclined stator  200  working area to perform multiple picking operations by moving in a cooperative manner. Each mover  100  may optionally utilize multiple individually actuated product securing mechanisms  110  to pick workpieces from infeed surface  221 . 
     In some embodiments rotational movement of the picking mover  100  may be used to assist with movement of the end effector  111  for positioning or picking. In some embodiments an end-stop  201  can be mounted on the front/lower edge of the inclined stators  200  to prevent a mover  100  from falling off the stator during all off states (ie. power failure). Depending on the incline angle of the stator  200  it is possible that the incline will exceed the angle of repose for the mover  100 , thereby always inducing a downwards sliding movement to the lower edge of the stator when not counteracted by active control via the stator. 
     Multiple sets of independent inclined stators  200  with respective picking movers  100  (carrying an actuated product securing mechanism  110 ) may be positioned at different locations along the workpiece infeed  220 . Each set of inclined stators/movers will operate in a cooperative manner to pick workpieces  102 A from the conveyor. The number of sets of picking movers  100  operating on each inclined stator  200  working region may be increased as needed to meet required throughput and/or reliability requirements. 
     In some embodiments the multiple sets of inclined stators  200  and movers  100  improves the potential throughput and may be utilized to sort different types of workpieces into different streams or for specific placement in the outfeed  240 . In one particular embodiment a plurality of different sets of inclined working regions (with respective picking movers) may each pick a specific type of workpiece from the unsorted infeed and deposit the workpiece on their own dedicated outfeed (ie. a chute). 
     As shown in  FIG. 48  the infeed unloading embodiment utilizes stators  200  located above the infeed surface  221  (with an incline angle theta between the mover working surface and conveyor working surface) and movers  100  (carrying an actuated product securing mechanism  110 ) to unload products  102  from the infeed  220 . The inclined angle of the stator  200  with movement along the stator working surface (Xs direction) creates a vertical movement component which allows the mover  100  to actuate the product securing mechanism  110  with large Z movement towards (and after picking, away from) the infeed surface  221 , and a horizontal movement component which can be used to for moving along the direction of motion (X axis) of the product during transfer thereby reducing or eliminating workpiece shear during picking of a moving product  102 . The additional lateral translation (Ys axis) is used for positioning with respect to Y axis). Additionally the compliance along X-axis and Z-axis of an end effector  111  in this arrangement may be built in (ie. with a rubber vacuum cup) to reduce shear acting on the workpiece and provide time for deceleration (along Xs) after picking contact has occurred between the end effector  111  and workpiece  102 . An alternative direction of compliance is along the Xs axis, which aligns with the movers  100  motion during a picking operation. 
     In some embodiments the end effectors  111  actuation will secure the workpiece  102 A while simultaneously lifting the workpiece (ie. a vacuum cup&#39;s bellows may compress when under vacuum) thereby assisting with lifting the workpiece clear of adjacent workpieces. 
     As shown in  FIG. 49A  a product transfer embodiment comprising a infeed  220 , inclined stator  200  (inclined from vertical), mover  100  (operating on working region of inclined stator, with product securing mechanism  110 ), product  102 , product sensor  80  (not shown). To transfer products the X and Y position on the conveyor of each product is determined via the product sensor  80 . Based on the position of the workpiece  102  the mover will align its Y position with the product  102  and perform a transfer motion utilizing the synchronized actuation of the mover  100  (along Xs direction, to create −Z motion of end effector and motion of mover along the conveying direction) and the end effector  111  (of the mover carried product securing mechanism  110 ) to grab the moving product from the infeed. A compliant mechanism and/or vertical actuation by the product securing mechanism (ie. through non-rigid bellows of a vacuum cup deforming and/or compressing) may be used to compensate for overshoot in Z motion of the end effector after transfer (required to decelerate along Xs if speed is matched during transfer). Although this particular embodiment has the Y direction of the conveyor and stator (Ys) parallel this is not necessary, further angle offset(s) (such as rotation of stator about Z axis with respect to conveyor) is also possible 
     As shown in  FIG. 49B , with same embodiment as  FIG. 49A  the infeed additionally comprises a sensing area  83  (where a sensor such as an overhead camera determines the position of each product  102  on the infeed surface  221 ) and a transfer area  223  (where products are removed from the infeed by a mover 100  utilizing its product securing mechanism  110 ). In this particular embodiment the mover  100  working surface overlaps the conveyor  220  working surface along the conveyor working surface&#39;s normal direction, this is not necessary but can provide an improved ease of control or accessibility of the conveyor&#39;s full width (along Y direction). 
     As shown in  FIG. 49C  the inclined angle of the stators  200  angularly offsets the stators coordinate system (Xs,Ys, and Zs) by the inclination angle theta about the infeed&#39;s  220  Y axis. As a result the mover&#39;s  100  velocity (v) along the Xs axis has a corresponding component with respect to the X axis and Z axis, with a product  102  on the infeed  220  having X motion and a variable Y position (matchable with mover Ys motion) along the conveyor surface. 
     In  FIG. 49C , the speed matching can be easily understood: the mover  100  is moved by the controller along the stator surface with motion component in X direction (generally the first direction) substantially matching the conveyor speed, so as to have no relative shear between the vacuum suction cup  111  and the conveyed product  102  during the process of transferring the product  102  from the conveyor  222  to the mover. 
     If the system was to be optimized the typical constraints on the angle (θ) are the maximum achievable mover velocity (along Xs direction) during the moment of picking (limited by acceleration, movable distance, payload etc.), and the workpiece&#39;s  102  speed (typically restricted by an upstream process and relatively constant). 
     
       
         
           
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     Conversely the effective z stroke of the mover&#39;s  100  end effector  111  is equal to the vertical component of the mover&#39;s X s  movement (Z=sin(θ)*Xs). Users may desire to maximize the z-stroke (steep incline θ) to achieve larger clearances while carrying a workpiece  102 , therefore a large incline angle θ may be desired. 
     In some embodiments the angle theta of the stators  200  (and angle of actuated product securing mechanism&#39;s  110  end effector  111 ) inclination from horizontal may be varied (ie. actuated) to match a changing infeed  220  speed. By varying the incline angle θ a large z stroke may be maintained for different operating conditions. 
     In some embodiments stationary picking may be performed, however the lack of infeed movement will result in non-ideal picking conditions. Due to the coupled X and Z movement inherent with the inclined Xs movement of the mover the end effector&#39;s X movement relative to the workpiece  102  will always occur at a rate determined by the effective downwards Z movement (as a function of the incline angle). The resulting shear created on the workpiece  102  is generally unwanted and will create variability in picking location on the workpiece while simultaneously creating a rubbing action between the end effector and workpiece during picking. 
     Generally an incline angle may be defined as an angle between the normal directions of the conveyor working surface and mover working surface. 
       FIG. 50  shows a plan view of the embodiment shown in  FIG. 47 , additionally showing the sensing area  80 , one or more picking areas  229  and workpiece unloading areas  242 . When workpieces  102  enter the unsorted infeed  220  one or more sensors  80  (ie. overhead camera) are used to identify each workpiece&#39;s position on the infeed surface  221 . After identifying each workpiece  102  the system  900  will assign the most optimal mover  100  to pick the workpiece  102  from the infeed  220 . The assigned part picking mover  100  will align with the lateral position (Y/Ys axis) of the workpiece  102 A, and time the movers Xs motion so the end effector  111  coincides with the workpiece (with matching position and speed) at the desired picking location. Each of the part picking movers  100  has an associated picking area  223  determined by the effective pickable contact area of each workpiece and feasible mover movements. Additionally each part picking mover  100  has an associated dropping area  243  in the packaging outfeed  240  determined by the reach of the end effector  111 . The system may additionally use sensors  80  to validate whether a pick was successful, such as by reidentifying workpieces  102  downstream of the picking area, validating whether the end effector  111  is gripping a workpiece (ie. measuring the vacuum pressure of a vacuum cup), or force measurement. If a pick was unsuccessful the system may utilize sensors  80  to reidentify the position of the workpiece and if possible, assign picking to a suitable mover  100  downstream. In some cases where a second attempt is not possible the workpiece may exit the system as a reject or be fed through the infeed an additional time. 
       FIGS. 51 and 52  shows an inclined part picking mover comprising a mover  100 , end effector  111  (vacuum cup connected to external vacuum source by vacuum line  112  with a solenoid actuated valve), and cantilevered structure  101 . The end effector&#39;s  111  gripping plane is oriented to be parallel to a workpiece&#39;s  102 A gripping surface. The inclined part picker&#39;s cantilevered structure  101 , end effector  111  and carried workpiece  102 A must avoid contact with the stator  200  and end stop  201  at all Xs positions to avoid unwanted contact during a picking operation or traversal (Ys motion). The inclined part picking mover also utilizes designed compliance via the end effector  111  (ie. rubber expansion bellows integrated in vacuum cup) or cantilevered structure  101  (ie. flexural elements) to reduce shear on the workpiece during picking motion and reduce severity of picking motion constraints (overshoot consequences not severe). 
     In some embodiments where the end effector&#39;s actuator is sufficiently light it may be carried by the mover and powered via an external connection. In other embodiments the actuator may be mounted externally and connected to the end effector via an external connection  112  (ie. vacuum line).  FIG. 53  and  FIG. 54  show top views at two different positions for a particular embodiment of the invention comprising a mover  100 , a first actuator body  110 (a rotary gear with teeth  112  on its cylindrical circumference, and the gear is installed on the mover  100  with suitable bearings so that it can rotate around a rotation axis  101  fixed with the mover), two auxiliary actuator body  114 A/ 114 B(with clamping sides  116 A/ 116 B fixed to the rack  114 A/ 114 B which is guided and supported with a linear guide  104 A/ 104 B, while the rack is engaged with a inner gear  113  that is connected to the first actuator body  110  with springs  116  arranged to apply torsion if misalignment occurs), a second actuator body  210  (a rack or timing belt with teeth  212  installed on the stator), a first latch body  120  (a rotary arm rotatable around a rotation axis  125  fixed with the first mover  100 , preloaded with a restoration spring  121 , a contact roller  123  rotating around an axis  124  fixed with  120 ), and a second latch body  220  (with a flat or curved surface) fixed on the stator. 
     This particular embodiment utilizes a +Y unlocking movement to contact the first latch body with a second latch body (engaging), thereby separating the first latch body from the first actuator body to achieve an unlock state. During a locking motion the mover will move in a −Y movement to separate the first latch body from the second latch body (disengaging), thereby inducing the first latch body&#39;s restoration spring  121  to regain contact between the first latch body and the first actuator body. During an engaging motion the first actuator body is moved with a +Y movement to initiate the first actuator bodies contact with a second actuator body to achieve engagement. During a disengaging motion the first actuator body is moved with a −Y movement to separate the first actuator body from the second actuator body. While maintaining an unlocked state and engagement between the first and second actuator body, the mover may move in an opening movement along the X direction (−X movement) (clamping surfaces  116 A/ 116 B moving apart along clamping directions). While maintaining an unlocked state and engagement between the first and second actuator body, the mover may move in a closing movement along the X direction (+X movement) (clamping surfaces  116 A/ 116 B moving together along the clamping directions). In this embodiment the actuation of the first actuator body  110  can generate rotation in two directions +Rz and −Rz. When the first actuator body is actuated in the +Rz direction the motion will move an inner gear through a resilient deformable element  121 , and the inner gear  113  is engaged with two racks  114 A/ 114 B with clamping sides  116 A/ 116 B mounted on them. The movement of the two racks  114 A/ 114 B towards center will cause the clamping sides  116 A/ 116 B to move together (clamping side  116 A moves +X and clamping side  116 B moves -X), and if a workpiece is between the two clamping sides  116 A/ 116 B they along with the racks  114 A/ 114 B and the inner gear  113  will be obstructed from further movement, but the first actuator body  110  will still be capable of further +Rz movement since the resilient deformable element  121  will allow misalignment between the first actuator body  110  and the inner gear  113 , thereby generating a variable gripping force at the clamping surfaces  116 A/ 116 B dependent on the misalignment between the first actuator body  110  and the inner gear  113 . During initial movement in −Rz of the first actuator body  110  if a workpiece is being held by the two clamping side  116 A/ 116 B the initial movement will reduce misalignment between the first actuator body and the second actuator body until there is no misalignment before further −Rz movement induces separation of the two clamping side  116 A/ 116 B (clamping side  125 A moves −X and clamping side  116 B moves +X) through a transfer of motion through the resilient deformable element  121 , inner gear  113  and auxiliary actuator body to the clamping surfaces  116 A/ 116 B. In this particular embodiment, the locking state may be used to secure the product with a sustained variable clamping force. 
       FIG. 55  shows a variation of the embodiment shown in  FIG. 12A / 12 B with the clamping sides reoriented to achieve clamping in +Y and −Y directions, this embodiments opening/closing motion, locking/unlocking process and engaging/disengaging process is the same as the embodiment described in  FIGS. 53 and 54 . Additionally, further between angles of clamping directions are possible in other embodiments. 
       FIG. 56  shows a top view of a particular embodiment which comprises a mover  100 , a first actuator body  110  (a rotary gear with teeth  112  on its cylindrical circumference, and the gear is installed on the mover  100  with suitable bearings so that it can rotate around a rotation axis  101  fixed with the mover), clamping sides  116 A/ 116 B (the clamping motion is constrained by a v-slot  104  limiting the motion to a single degree of freedom and the clamping sides  116 A/ 116 B includes a slot orthogonal to the constrained motion in this case aligned with Y axis), auxiliary actuator body  114 A/ 114 B (a wheel mounted on the first actuator body  110  and positioned within the slot of the clamping sides  116 A/ 116 B to allow the wheel to roll along the slot as the first actuator body  110  rotates, thereby transferring the motion to the clamping sides  116 A/ 116 B, additionally surrounded along its circumference is a resilient deformable element  121 ), a second actuator body  210  (a rack or timing belt with teeth  212  installed on the stator), a first latch body  120  (a rotary arm rotatable around a rotation axis  125  fixed with the first mover  100 , preloaded with a restoration spring  121 , a contact roller  123  rotating around an axis  124  fixed with  120 ), and a second latch body  220  (with a flat or curved surface) fixed on the stator. 
     This embodiment has similar unlocking/locking and engaging/disengaging motions as the embodiment shown in  FIG. 2 . During an actuating motion of the mover  100  in +X direction the first actuator body will be rotated in the -Rz direction, which will move the auxiliary actuator body  114 B in a −Rz motion relative to the mover  100  driving the clamping side  116 B with a −X direction component which is aligned with the V-Slot  104  constraining the clamping surface  116 B motion. The second auxiliary actuator body  114 A is also rotated with a −Rz motion relative to the mover body (magnetic components)  100  driving the clamping side  116 A with a +X direction component which is aligned to the V-Slot  104  constraining the clamping side  116 A motion. The combined clamping motion will cause the clamping sides  116 A/ 116 B to move together and allow gripping of a workpiece to occur. During an actuating motion of the mover  100  in the −X direction the first actuator body will be rotated in the +Rz direction, which will cause the clamping sides  116 A/ 116 B to move apart from each other through a transfer of motion from the first actuator body  110  through the auxiliary actuator bodies  114 A/ 114 B to the clamping sides  116 A/ 116 B. 
       FIG. 57  shows a top view and  FIG. 58  shows an isometric view for a particular embodiment comprising a mover  100 , a fixed clamping side  116 B (fixed relative to mover body), a first actuator body  110  (a rack  110  constrained with suitable bearings for linear motion along the X direction, with a clamping side  116 A and a restorative resilient deformable element  121  pushing the rack  110  in a +X direction), a first latch body  120  (constrained to motion along the Y direction with a restorative compression spring  121  to generate holding force for teeth  122  which engage with the rack teeth  112  during locking), a second latch body  220  (with a flat for curved surface) fixed on the stator, second actuator body  210  (with a flat for curved surface) fixed on the stator, and a stator  200  (not shown) with a working surface with normal direction in Z. 
     A locking motion is that the first mover  100  moves in +Y and the first latch body  120  loses contact with the second latch body  220  so that the first latch body is pushed back by the restoration spring the locking teeth  122  is latched into two teeth of  112  preventing motion of the rack. As a result, the first latch body is in a locked position. 
     A disengaging motion is that the first mover  100  moves in −X so that the first actuator body  110  are disengaged from a contact surface  210 . 
     In the embodiment in  57 / 58 , the locking motion and the disengaging motion happen independently to allow the first actuator body  110  and the attached clamping side  116 A to be easily opened for unloading a workpiece at a fixed point with minimal unlocked movement. The first actuator body can be preloaded in an open position and released by disengaging the first latch body to initiate clamping with the object. Or alternatively the first actuator can be preloaded while in a closed position to achieve rapid clamp separation when unlocking occurs. 
     An unlocking motion is a motion opposite to the locking motion: initially the first latch body has no contact with the second latch body  220 , and the first latch body is in the locked position; when the mover  100  gradually moves toward the  220  in −Y direction, the surface of the first latch body  110  touches the surface of  220  and thus compresses the restoration spring  121  to slide the latch body  120  in a +Y direction so that the locking teeth  122  are pulled out of the rack teeth  112  and the first latch body is brought into the unlocked position shown in  FIGS. 57  and  58 . While in an unlocked state the mover may engage with a stationary object  201  (at the +X edge) and while engaged vary the mover&#39;s relative position (X position) to adjust the clamping distance  117  to achieve an open or closed position. 
     Generally, a latch mechanism may be utilized to fix the clamping distance or clamping force of the two or more clamping surface(s)  116 . Furthermore while engaged the relative position of the mover to the stationary object may be changed to change the clamping distance of the clamping surfaces in a continuous manner (ie. smooth continuous function). Typically the change in position of the mover may occur along a specific direction to change the clamping distance. The clamping distance may be adjusted within a range of values, typically with the upper or lower value being the open position. The closed position is typically product dependent. 
       FIGS. 59, 60 and 61  all show a particular mover clamping mechanism embodiment comprising two rotating elements  120 A/ 120 B(rotating about a rotation axis  125 A/ 125 B with a clamping side  116 A/ 116 B and a contact side with associated contact surface  123 A/ 123 B optionally rotating around a rotation point  124 A/ 124 B). To perform an opening motion the contact surfaces  123 A/ 123 B are moved in a −Y motion towards a second latch body, thereby contacting and engaging the latch body and adjusting the rotation position of each first latch body  120 A/ 120 B (as a function of relative Y position between mover and second latch body) to generate a separating movement of the clamping surfaces  116 A/ 116 B. To perform a closing motion the contact surfaces  123 A/ 123 B are moved in a +Y motion thereby changing the rotation position of each first latch body  120 A/ 120 B as the restoration spring&#39;s  121 A/ 121 B torsional force acts on the rotating body inducing movement of the clamping sides  116 A/ 116 B together. In this particular embodiment the resilient deformable elements (restoration springs) may be utilized to create a normally closed operation with a clamping force related to the clamping distance of the clamping surfaces  116 A/ 116 B for the held product  102 . 
     In various embodiments, a receiving body is described as a package. However, this is not necessary, in some embodiments, a receiving body for a product can be one component or subassembly to be assembled with the product. 
     While a number of exemplary aspects and embodiments have been discussed above, those of skill in the art will recognize certain modifications, permutations, additions and sub-combinations thereof. It is therefore intended that the following appended clauses and clauses hereafter introduced are interpreted to include all such modifications, permutations, additions and sub-combinations as are within their true spirit and scope. 
     Certain Inventive Aspects may be Described by the Following Numbered Clauses: 
     
         
         1. A robotic handling system comprising: 
       
    
     a plurality of magnetically actuated movers, each comprising magnetic components, wherein the plurality of movers comprise a first group comprising one or more first movers each having a first tooling and a second group comprising one or more second movers having a second tooling, different from the first tooling; 
     a stator defining a working surface and comprising a plurality of actuation coils arranged to interact with the mover&#39;s magnetic components to controllably move the mover over the working surface when driven by one or more stator driving circuits; 
     one or more sensors to detect a position of the mover on the stator; and 
     a controller connected to the driving circuits and programmed to:
         circulate the first movers within a first region of the working surface to transfer one or more first products from a first receiving location for receiving the first products to a first unloading location for unloading at least one of the first products; and   circulate the second movers within a second region of the working surface, different from the first region, to receive at a second receiving location one or more of the first products that are unloaded from first movers and transfer first products to a second unloading location for unloading one or more of the first products.       2. The system of clause 1, wherein the first unloading location and the second receiving locations are the same.   3. The system of clause 1 or 2, further comprising a first transfer device arranged to unload first products from the first movers onto the second movers.   4. The system of clause 1 or 3, further comprising a second transfer device for transferring a second product to the second movers, preferably wherein the second product is a receiving body package for one or more the first products.   5. The system of anyone of clause 1 to 4, wherein the first movers are of different size from the second movers.   6. A method of transferring products comprising:   

     controlling actuation coils of a stator to displace a plurality of magnetically actuated movers over a working surface of the stator in order to:
         circulate a first group of movers within a first region of the working surface between a first receiving location for receiving the first products and a first unloading location for unloading the first products and   circulate a second group of movers within a second region of the working surface between a second receiving location and a second unloading location for unloading the first products;   transferring the first products from the first movers at the first unloading location to the second movers at the second receiving location.       7. The method of clause 6, further comprising loading second products onto the second movers and then unloading the first and second products together at the second unloading location.   8. The method of clause 6, wherein the first unloading location and the second receiving locations are the same.   9. The method of clause 7, wherein the second product is a receiving body for the first products.   10. A system comprising:   

     a conveyor having a first working surface for conveying a plurality of products comprising a first product in a first direction; 
     one or more magnetically actuated movers, each comprising one or more magnetic components; 
     a stator having a second working surface and comprising a plurality of actuation coils arranged to interact with each mover&#39;s magnetic components to controllably move each mover over the second working surface in at least in two in-plane non-parallel directions parallel to the working surface when driving the stator coils with commanded currents by one or more driving circuits; and 
     a controller connected to the driving circuits and programmed to control a first of the one or more movers to move with a motion component in a second direction, orthogonal to the first direction, and parallel with the first working surface, to align that first mover with a first of the plurality of products in the second direction and transfer that first product between the conveyor and that first mover.
     11. The system of clause 10, wherein the second direction is parallel with the first working surface.   12. The system of clause 10, wherein the stator and conveyor are arranged with their working surfaces substantially parallel.   13. The system of clause 10 or 12, wherein the first and second working surfaces have no overlapping region in the normal direction of the first working surface.   14. The system of anyone of clauses 10 to 13, wherein the stator and conveyor are arranged with their working surfaces inclined with respect to each other.   15. The system of clause 24, wherein the first and second workings surface are inclined between 20° and 70°.   16. The system of clause 24 or 25, wherein the first and second working surfaces are in an overlapping arrangement in the normal direction of the first working surface.   17. The system of anyone of clauses 21 to 26, wherein the controller is further programmed to control a second mover of the one or more movers to move with a motion component in the second direction to align with a second of the plurality of products in the second direction another of the plurality of products and transfer that product between the conveyor and the second mover.   18. The system of anyone of clauses 10 to 17, wherein the controller is further programmed to control the first and second plurality of movers to move as a group to respectively align each mover with the first and second products in the second direction.at least one of the products.   19. The system of anyone of clauses 10 to 18, wherein the first and second products have different positions in the second direction.   20. The system of anyone of clauses 10 to 19, wherein the controller is programmed to control the first and second movers to move simultaneously with motion components in the second direction to respectively align with the first and second products in the second direction.   21. The system of anyone of clauses 10 to 20, wherein the controller is programmed to control the first and second movers to move with opposing motion components in the second direction to respectively align with the first and second products in the second direction.   22. The system of anyone of clauses 10 to 21, wherein the controller is further programmed to move the first mover with first-direction motion component substantially matching the non-zero speed of the products being conveyed.   30. The system of anyone of clauses 10 to 29, wherein surface normals of the working surfaces are relatively rotated about an axis perpendicular to the first direction.   31. The system of anyone of clauses 21 to 30, wherein the first mover comprises a compliant mechanism allowing for relative motion in the normal direction of the conveyor between the conveyed product and the mover.   32. The system of anyone of clauses 21 to 31, wherein the first mover comprises an active end effector to remove the product from a transfer region of the conveyor, preferably wherein the end effector is pneumatically or electrically actuated, and more preferably a vacuum suction cup.   33. The system of clause 32, wherein the end effector extends beyond the second working surface and into the transfer region.   34. The system of anyone of clauses 26 to 33, wherein the controller is programmed to move the mover at a velocity having a component in the first direction substantially matching a velocity of the conveyor.   35. A method of transferring a product between a conveyor and a mover comprising:   

     operating the conveyor having a first working surface for conveying the product in a first direction; 
     controlling actuation coils of a stator providing a second working surface to move a magnetically actuated mover in at least two in-plane degrees of freedom in on a second working surface of the stator with motion component in a second direction orthogonal to the first direction and parallel to the first working surface; 
     positioning the stator and conveyor with their first and second working surfaces inclined with respect to each other to define a product transfer region at the intersection of the first and second directions; 
     moving the mover to a first location to position an end effector extending from the mover to align with the products on either the conveyor or mover to the product in the first and second directions and pick the product up from transfer region; and then transferring the product to the other of the conveyor toor the mover.
     36. The method of clause 35, further comprising moving the mover with motion component in the first direction substantially matching the conveyor speed third direction on the stator to a second transfer region and loading or unloading the product.   37. The method of clause 35 or 36, further comprising moving the mover to move with motion component in the second direction to a second location to to position an end effector extending from the mover within the transfer region and then operating the end effector to load or unload the product therefrom.   38. The method of anyone of clause 35 to 37, further comprising moving the mover at a velocity having a component in the first direction substantially matching a velocity of the conveyor.   39. The method of anyone of clauses 35 to 38, wherein the stator&#39;s working surface and conveyor are inclined with respect to each other in order to merge products between the conveyor and the mover in the transfer region.   40. An assembly system comprising:   

     an infeed transfer subsystem for carrying products thereon; 
     sensor subsystem adapted to determine product locations of said products on the infeed transfer subsystem; 
     a group of magnetically actuated movers, each having a securing mechanism adapted to securely engage the product; 
     a stator having a working surface and an electromagnetic driving means to move each mover independently on the working surface; 
     an outgoing transfer subsystem adapted for receiving the products from the group of movers; and 
     a control system for controlling the electromagnetic driving means to move individual members of the group of movers from the determined product locations to a disposing location of the outgoing transfer subsystem.
     41. The system of clause 40, wherein the sensor subsystem is arranged to detect multiple products on the infeed simultaneously and predict each product&#39;s location for when the securing mechanism is actuated.   42. The system of anyone of clauses 40 or 41, wherein the securing means comprises a picking tool, preferably an activatable suction cup, and preferably means of lowering and raising the securing means to the product.   43. The system of anyone of clauses 40 to 42, wherein the controller is arranged to actuate each mover in the group and move them as a group between respective individual product locations and the disposing locations.   44. The system of anyone of clauses 40 to 43, further comprising a second group of movers and a second outfeed transfer subsystem spaced-apart from the first outfeed transfer subsystem, wherein the second group of movers shares a region of the working surface proximate the infeed transfer subsystem with the first group of movers.   45. The system of clause 40, wherein the outgoing transfer system comprises a second group of movers and further comprising a second outgoing transfer system arranged to receive products from the second group of movers.   46. The system of clause 45, further comprising a third outgoing transfer system arranged to receive products from the second outgoing transfer system.   47. The system of clause 46, wherein the second or third outgoing transfer system comprises a vertical actuator connected to another product securing mechanism and arranged to move products from a first height to a variable height in a package.   48. The system of clause 46, wherein the second or third outgoing transfer system comprises a packaging securing mechanism.   49. The system of anyone of clauses 40 to 45, wherein the products are disposed at the disposing locations in a predetermined pattern for packaging.   50. The system of clause 40, wherein the securing mechanism comprises one or more retaining bays on each mover, each bay shaped to receive product at an opening and constrain the product in at least two dimensions.   51. The system of clause 40, wherein an outlet of the infeed transfer system is positioned above the working surface, separated by a gap large enough to pass the movers therethrough.   52. The system of clause 40, further comprising a second infeed transfer subsystem for loading bays of the movers with the products, concurrent with the first infeed transfer subsystem.   53. The system of clause 40, further comprising a two-axis gantry for transferring product from the movers to the outfeed transfer subsystem.   54. A method of assembly comprising:   

     transferring products on an infeed transfer system in a first direction; 
     determining locations of a plurality of the product on the infeed transfer system; 
     individually actuating electromagnetic driving elements of a stator to move a group of movers on a working surface of the stator to the determined locations; 
     securing the products using a securing mechanism of the movers at the loading location; and 
     moving the movers to dispose the products at an outfeed transfer subsystem.
     55. The method of clause 54, moving the movers as a group to dispose the product at an outfeed transfer subsystem.   56. The method of clause 54, further predicting second locations of each product in the selected products and controlling individual movers to respective second locations to pick the products.   57. The method of clause 54, further comprising speed matching each mover to their respective products on the infeed transfer system.   58. The method of clause 54, wherein the group of movers follow substantially the same path between picking and disposing locations.   59. The method of clause 54, further comprising loading the movers with the products from a second infeed transfer subsystem concurrent with loading the first infeed transfer subsystem.   60. The method of clause 54, further comprising controlling movers to move independently from outlets of infeed transfer subsystems to the disposing location, while avoiding collisions.   61. The method of clause 54, further comprising transferring the product, using a two-axis gantry, from the movers to the outfeed transfer subsystem.   62. The method of clause 54, wherein the movers dispose the products in a pre-determined pattern on the outfeed transfer subsystem.