Title :
Development of a new variable remote center compliance using stiffness adjusters
Author :
Choi, Seungjoon ; Lee, Sangcheol ; Won, Sangchul
Author_Institution :
Dept. of Electron. & Electr. Eng., Pohang Inst. of Sci. & Technol., South Korea
Abstract :
A new variable remote center compliance (VRCC) for peg-in-hole assembly is presented. The proposed VRCC consists of elastomer shear pads (ESPs) and stiffness adjusters. The stiffness adjuster (SA) is clamped to a part of the ESPs in order that the ESP parameters can be changed freely. As a result, the position of the compliance center can be adjusted to the various peg lengths. Furthermore, the proposed VRCC has a very simple mechanical structure and is easy to manufacture. Experimental results verify the effectiveness of the VRCC
Keywords :
assembling; compliance control; mechanical variables control; position control; elastomer shear pads; mechanical structure; peg lengths; peg-in-hole assembly; position adjustment; stiffness adjuster; variable remote center compliance; Assembly; Clamps; Electrostatic precipitators; Iron; Jamming; Manufacturing; Performance evaluation; Rubber; Solid modeling; Testing;
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
DOI :
10.1109/IROS.2001.976344
