JPS6434620A - Variable compliance mechanism - Google Patents
Variable compliance mechanismInfo
- Publication number
- JPS6434620A JPS6434620A JP18556787A JP18556787A JPS6434620A JP S6434620 A JPS6434620 A JP S6434620A JP 18556787 A JP18556787 A JP 18556787A JP 18556787 A JP18556787 A JP 18556787A JP S6434620 A JPS6434620 A JP S6434620A
- Authority
- JP
- Japan
- Prior art keywords
- compliance
- external force
- tension
- connection
- movable member
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/10—Aligning parts to be fitted together
- B23P19/102—Aligning parts to be fitted together using remote centre compliance devices
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
PURPOSE:To enable the control of compliance at a high speed via simple constitution by providing the third member between two members capable of relative motion for the connection thereof and a means for adjusting the tension of the third member. CONSTITUTION:A compliance mechanism comprises a fixed member 1, a movable member 2, a connection member 3 for connecting said members 1 and 2 to each other and a tension adjustment mechanism 4 for adjusting the tension of the connection member 3. In this case, the length of the connection member 3 is expressed as l, applied tention as T and an external force as F respectively. And consideration is limited to motion within an x-y plane. Now, if the movable member 2 is displaced by y due to the external force F, the equation I can be established and compliance is expressed as l/T. Or the adjustment T enables the control of the compliance. If T is preliminarily so discriminated and set as to be small during assembly work and large during positioning work with a hand mechanism fitted to the tip of the movable member 2, the compliance can be given pertinently without detecting the value of the external force F.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP18556787A JPS6434620A (en) | 1987-07-27 | 1987-07-27 | Variable compliance mechanism |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP18556787A JPS6434620A (en) | 1987-07-27 | 1987-07-27 | Variable compliance mechanism |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS6434620A true JPS6434620A (en) | 1989-02-06 |
Family
ID=16173067
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP18556787A Pending JPS6434620A (en) | 1987-07-27 | 1987-07-27 | Variable compliance mechanism |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS6434620A (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2379048A (en) * | 2001-05-07 | 2003-02-26 | Hewlett Packard Co | Indexing and Storing Normalized Data |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS4961770A (en) * | 1972-10-18 | 1974-06-14 | ||
JPS63185540A (en) * | 1987-01-26 | 1988-08-01 | Toyama Pref Gov | Assembly alignment device |
-
1987
- 1987-07-27 JP JP18556787A patent/JPS6434620A/en active Pending
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS4961770A (en) * | 1972-10-18 | 1974-06-14 | ||
JPS63185540A (en) * | 1987-01-26 | 1988-08-01 | Toyama Pref Gov | Assembly alignment device |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2379048A (en) * | 2001-05-07 | 2003-02-26 | Hewlett Packard Co | Indexing and Storing Normalized Data |
GB2379048B (en) * | 2001-05-07 | 2005-02-16 | Hewlett Packard Co | Handling data |
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