Noncontact orientation of objects in three-dimensional space using magnetic levitation

Significance We describe several noncontact methods of orienting objects in three-dimensional (3D) space using Magnetic Levitation (MagLev), and report the discovery of a sharp geometry-dependent transition of the orientation of levitating objects. An analytical theory of the orientation of arbitrary objects in MagLev explains this transition. MagLev is capable of manipulating and orienting hard and soft objects, and objects of irregular shape. Because controlling the orientation of objects in space is a prerequisite for assembling complex structures from simpler components, this paper extends MagLev into 3D self-assembly, robotic assembly, and noncontact (stiction-free) orientation of hard and soft objects for applications in biomimetics, soft robotics, and stimulus-responsive materials, among others.