관절 콤플라이언스를 활용한 정밀 조립형 메카니즘에 관한 연구

Study on Precison Assembly Macchanism Using Joint Compliances

Most of Commercial Remote Center Compliance(RCC) devices have been designed using deformable structures. In this work, we propose another type of assembly devices which generate the compliance effects by attaching the compliances (or spring) at the joints of the given mechainsm. The compliance models are derived for a serial-type, parallel-type, and hybrid-type mechanisms, respectively. In particular, a planar three-degree of freedom parallel structure is shown to have RCC points at the center of the workspace for its symmetric configuratings.