Manipulator Peripherals:

The Remote Center Compliance

©2018 Max Donath

Remote Center Compliance (RCC)
◆ What is compliance ?
◆Producing the proper jiggle to correct for
misalignments
◆ Passive compliance:
◆ Compliant stationary fixtures
◆ Robot grippers with remote center
compliance
Diagrams of RCC Action
 Remote Center Compliance

Entirely passive

Passive = All springs, bars, etc.

No motors
No sensors, etc.
Low mass gives it high bandwidth
Puts pegs in holes in 1/4 s
 Actual RCC s
v ATI Industrial Automation Inc.
http://www.ati-ia.com/products/compliance/Compensator_main.aspx

v See https://www.youtube.com/watch?v=qFTUFHGGZIg
For automatic tool changing, see
http://www.youtube.com/watch?v=XlJLVGRbrOk

v Pivoting end effectors, see

https://www.youtube.com/watch?v=Yj4aZJAkYvM

Lateral and cocking misalignment RCC aligns the part in

occur during assembly the hole