조립용 로보트를 위한 수동형 컴플라이언스 시스템에 관한 구조적 연구

A structural study on the passive compliance system for assembly robot

Up to now, the most studies on the passive compliance system for assembly robot were only concerned about the device itself without through analysis of its concept. In this paper, we have tried to analyze a structural characteristics, in the case that the passive compliance system was used in simple assembly process like inserting a round shaft or peg into a round hole.