Compliant gripper for precision robotic assembly

摘要

A method of designing, fabricating, and testing a robotic gripper that can comply laterally and angularly to allow an assembly machine or robot to compensate for positioning errors is presented. The design and implementation aspects of remote center compliance are discussed. A brief review of previously published work on remote center compliance is presented. The device has shown higher positioning accuracies than the Armdraulic electrohydraulic robot