A pneumatic-electric hybrid linear force control end-effector is proposed, where a tubular voice coil motor (VCM) with parallel magnets is implemented as the active force driving unit and the nitrogen spring is implemented as the passive vibration absorb unit. The VCM is designed with a parallel Halbach permanent magnet (PM) array to improve force density, and the air-gap magnetic field and thrust are analyzed by the finite element method (FEM) and the magnetic equivalent circuit (MEC) method. The thrust of VCM, the force characteristic of the nitrogen spring and the stiffness of the extension spring are well designed to ensure the fast response and vibration suppression characteristic of the pneumatic-electric hybrid end-effector.

pneumatic-electric hybrid，voice coil motor，nitrogen spring