Variable passive compliance device for the robotic assembly

摘要

Industrial robots have been used in the simple repetitive process such as handling, transferring and assembling the simple workpiece. Robotic assembly with high precision becomes the main issue of the robot automation system. There have been some researches about robotic assembly strategy and passive compliant devices for adaptive assembly. In the paper, we proposed a new kind of variable compliance device with some compliance bars and the mechanical transition for the versatile assembly tasks. It can vary the stiffness coefficient from zero to almost infinite and is expected to be applied to the various assembly applications.