미끄럼 관절 콤플라이언스를 활용한 평면형 3 자유도 RCC 메카니즘의 해석

Analysis of a Planar 3 DOF RCC Mechanism using Prismatic Joint Compliances

Most of Commercial Remote Center Compliance(RCC) devices have been designed using deforma ble structures. In this work, we propose another type of assembly devices which generate the compliance effec ts by attaching the compliances (or spring) at the prismatic joints of the griven mechainsm. First, the kinematic analysis for a parallel-type planar 3-degree-of-freedom mechanism is performed using modified transfer method of generalized coordinate. Then, compliance characteristics for the mechanism using prismatic joint compliances are investigated. In particular, when the system maintains its symmetric configuration, the mechanism is show n to have RCC points at the center of the workspace. Finally, sensitivity analysis around RCC points is perfor med.