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New Design Methodology for RCC Using Elastomer Shear Pads
Sangwan Joo, Naotaka Yoshihara, Yasuhiro Masutani, Atsushi Nishikawa and Fumio Miyazaki
Graduate School of Engineering Science, Osaka University, 1-3 Machikaneyama, Toyonaka, Osaka 560 Japan
Received:May 6, 1997Accepted:October 3, 1997Published:October 20, 1997
Keywords:Elastomer shear pad (ESP), RCC device, Projection, Stiffness, Variable RCC, Hinged/Ball-jointed/FixedESP
Abstract
The mechanical behavior of RCC (Remote-Center-Compliance) devices using elastomer shear pads depends on the number of their elastomer-metal layers, the thickness and radius of the elastomer-metal, and the axial and lateral stiffness of the elastomer. These parameters must be considered in a complete analysis of the design of RCC devices. This paper presents a useful method for analyzing the behavior of RCC devices using elastomer shear pads based on the material mechanics approach. This makes it easy to design new RCCs for specific purposes. Moreover, we have developed a projection/stiffness variable type RCC (VRCC), and verified that a single VRCC duplicates the performance of a wide range of commercially available fixed-type RCCs. Simulation and experimental results are also presented.
Cite this article as:S. Joo, N. Yoshihara, Y. Masutani, A. Nishikawa, and F. Miyazaki, “New Design Methodology for RCC Using Elastomer Shear Pads,” J. Robot. Mechatron., Vol.9 No.5, pp. 362-372, 1997.Data files:
