Title :
On the mechanics of elastomer shear pads for remote center compliance (RCC)
Author :
Joo, Sangwan ; Waki, Hiroyuki ; Miyazaki, Fiimio
Author_Institution :
Dept. of Mech. Eng., Osaka Univ., Japan
Abstract :
The mechanical behaviour of RCC devices using elastomer shear pads is influenced by the number of rubber-metal layers, thickness and radius of the rubber and metal, and axial and lateral stiffness of the rubber (elastomer). These parameters have to be considered for a complete analysis or design of the RCCs. We present a useful method of analyzing the behaviour of RCC based on the basic knowledge of the mechanics of materials. This makes it easy to design a new RCC for a specific purpose. Simulation and experimental results are also presented
Keywords :
elastomers; mechanics; robots; RCC; axial stiffness; elastomer shear pad mechanics; lateral stiffness; remote center compliance; rubber-metal layers; Atherosclerosis; Electrostatic precipitators; Equations; Grippers; Linearity; Manipulators; Mechanical factors; Mechanical variables measurement; Robotic assembly; Rubber;
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location :
Minneapolis, MN
Print_ISBN :
0-7803-2988-0
DOI :
10.1109/ROBOT.1996.503792
