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http://dx.doi.org/10.5302/J.ICROS.2007.13.9.910

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

Lee, Sang-Cheol (Dept. of Sport Engineering, Korea Institute of Sport Science(KISS))
Publication Information
Journal of Institute of Control, Robotics and Systems / v.13, no.9, 2007 , pp. 910-914 More about this Journal
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
compliance center; ESP RCC; shear stress;
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Times Cited By KSCI : 1  (Citation Analysis)
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