Development of a new variable remote center compliance using stiffness adjusters

A new variable remote center compliance (VRCC) for peg-in-hole assembly is presented. The proposed VRCC consists of elastomer shear pads (ESPs) and stiffness adjusters. The stiffness adjuster (SA) is clamped to a part of the ESPs in order that the ESP parameters can be changed freely. As a result, the position of the compliance center can be adjusted to the various peg lengths. Furthermore, the proposed VRCC has a very simple mechanical structure and is easy to manufacture. Experimental results verify the effectiveness of the VRCC.