• Title/Summary/Keyword: ESP RCC

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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
    • Journal of Institute of Control, Robotics and Systems
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    • v.13 no.9
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    • pp.910-914
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    • 2007
  • 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.

Development of a Variable Remote Center Compliance (VRCC) with Stiffness Adjusting Rods. (탄성 조절 막대를 이용한 가변형 원격 순응 중심 장치 개발에 관한 연구)

  • Lee, Sang-Cheo
    • Journal of Institute of Control, Robotics and Systems
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    • v.11 no.8
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    • pp.704-708
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    • 2005
  • In this paper, a simple idea is proposed to change the compliance center of the Remote Center Compliance (RCC) by adjusting the elasticity of the Elastomer Shear Pad (ESP). To vary the elasticity of the ESP, a hole is made in the ESP along its stiffness axis, and a stiffness adjusting rod (SAR) is inserted into the hole. By adjusting the insertion depth of the rod, lateral stiffness of the ESP can be varied, and the compliance center of the VRCC can be controlled accordingly. To verify the effectiveness of the proposed idea, a prototype VRCC is designed and, the position of the compliance center with various lengths of the inserted rod are measured.