Development of a new variable remote center compliance for assembly robots

摘要

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 peg-in-hole assembly with various peg lengths. Furthermore, it has a very simple mechanical structure so that it can be manufactured easily.