Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

An experimental study on adjusting mechanism of Remote Center Compliance for assembly robots with shear stress control of Elastomer Shear Pads(ESP)

ESP의 전단 변형을 이용한 원격 순응 중심 장치의 순응 중심 조절 방법에 관한 실험적 고찰

  • Lee, Sang-Cheol (Dept. of Sport Engineering, Korea Institute of Sport Science(KISS))
  • 이상철 (체육과학연구원 스포츠 산업실)
  • Published : 2007.09.01
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, an experimental study is performed to adjust position of compliance center of Elastomer Shear Pad Remote Center Compliance (ESP RCC) device, which is used on precise peg in hole process. In the study, variation of the lateral/axial stiffness of the ESP is proposed as a control parameter to adjust the position of compliance center of the ESP RCC. The variation of the stiffness of the ESP is achieved by controlling the shear stress of the ESP. To control the shear stress of the ESP, position of top side of the ESP is changed while remaining bottom side of the ESP is fixed on the RCC plate. To evaluate effect of the proposed idea, stiffness variations of the ESP on various shear stresses are measured, and variation of the compliance center is measured with the ESP RCC that can control the position of compliance center by using the shear stress. The measured data shows unique characteristics that have not been shown in other types of ESP VRCCs.

Keywords

References

  1. D. E. Whitney, 'Quasi-static assembly of compliantly supported rigid parts,' Journal of Dynamic Systems, Measurement, and Control, vol. 104, pp. 65-77, 1982 https://doi.org/10.1115/1.3149634
  2. D. E. Whitney, 'Remote center compliance,' Encyclopedia of Robotics System and Control, vol. 104, pp. 1316-1324, 1986
  3. D. E. Whitney and J. M. Rourke, 'Mechanical behavior and design equations for elastomer shear pad remote center compliances,' Journal of Dynamic Systems, Measurement, and Control, vol. 108, pp. 223-232, 1986 https://doi.org/10.1115/1.3143771
  4. D. Milutinovic, 'Universal compliant device based on SCARA concept,' Robotics & Computer-Integrated Manu-facturing, vol. 15, no. 4, pp. 319-321, 1997
  5. H Van Brussel and J. Simons, 'The adaptable compliance concept and its use for automatic assembly by force feedback accommodation,' Proc. 9th ISIR, pp. 167-181
  6. M. R. Cutkosky and P. K. Wright, 'Active control of a compliant wrist in manufacturing task, transactions of the ASME,' Journal of Engineering for Industry, vol. 108, pp. 3643, Feb. 1986
  7. S. Joo and F. Miyazaki, 'Development of variable RCC and Its application,' Proceedings of IEEE/RSJ Intl Conference on Intelligent Robots and Systems, pp. 1326-1332, 1998
  8. S. C. Lee, S. C. Won, and S. J. Choi, 'Development of a new variable remote center compliance for assembly robots,' Advanced Robotics, vol. 14, no. 3, pp. 241 -255, 2000 https://doi.org/10.1163/156855300741555
  9. S. C. Lee and S. C. Won, 'Experimental evaluation of a new Variable Remote Center Compliance(VRCC),' JSME International Journal Series C, vol. 44, no. 3, pp. 875-882, 2001 https://doi.org/10.1299/jsmec.44.875
  10. S. J. Choi, S. C. Lee, and S. C. Won, 'Development of a new variable remote center compliance using stiffness adjuster,' Proceedings of the 2001 IEEE International Conference on Intelligent Robots and System, pp.1860-1863
  11. 이상철, '탄성 조절 막대를 이용한 가변형 원격 순응 중심 장치 개발에 관한 연구,' 제어 . 자동화 . 시스템공학논문지, 제 11 권, 제 8 호, pp. 704-708, 2005. 8 https://doi.org/10.5302/J.ICROS.2005.11.8.704
  12. 이경진, 김갑순, 강태경, 서용표 이종림, '적층고무베어링의 동적 특성평가,' 한국지진공학회 2002 춘계학술대회 논문집, pp. 367-372
  13. 구경희, 이재한, 유봉, '면진용 적층고무베어링의 기계적 역학특성,' 한국지진공학회 논문집, 제 1권, 제 2 호, pp 79-89, 1997. 6