Development of a new variable remote center compliance for assembly robots

Authors: Lee, Sangcheol; Won, Sangchul; Choi, Seungjoon

Source: Advanced Robotics, Volume 14, Number 3, 2000 , pp. 241-255(15)

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Abstract:

In this paper, we develop a new elastomer shear pads (ESPs) variable remote center compliance for peg-in-hole assembly. It consists of one top plate and one bottom plate, which are linked by four ESPs as in a conventional RCC. However, it has a structure to enable the four ESPs to rotate about the vertical axis of the bottom plate so that the position of the compliance center can be adjusted freely by changing the rotation angle. As a result, the new VRCC can be applied to pegin-hole assembly with various peg lengths. Furthermore, it has a very simple mechanical structure so that it can be manufactured easily.

Keywords: ELASTOMER SHEAR PAD; VARIABLE REMOTE CENTER COMPLIANCE; ROTATION ANGLE; COMPLIANCE CENTER; PEG-IN-HOLE

Document Type: Research article

DOI: http://dx.doi.org/10.1163/156855300741555

Publication date: 2000-11-01