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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Development of a Variable Remote Center Compliance (VRCC) with Stiffness Adjusting Rods.

탄성 조절 막대를 이용한 가변형 원격 순응 중심 장치 개발에 관한 연구

  • 이상철 (체육과학연구원 스포츠 산업실)
  • Published : 2005.08.01
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Abstract

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.

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References

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