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Geometric model of the DCR-LAI compliant device

Published online by Cambridge University Press:  09 March 2009

A. Jutard,
T. Redarce,
A. Fakri and
M. Betemps
A. Jutard
Affiliation:
Laboratoire d'Automatique Industrielle, Institut National des Sciences Appliquées de Lyon, 20 Avenue Albert Einstein, 69621 Villeurbanne Cedex (France)
T. Redarce
Affiliation:
Laboratoire d'Automatique Industrielle, Institut National des Sciences Appliquées de Lyon, 20 Avenue Albert Einstein, 69621 Villeurbanne Cedex (France)
A. Fakri
Affiliation:
Laboratoire d'Automatique Industrielle, Institut National des Sciences Appliquées de Lyon, 20 Avenue Albert Einstein, 69621 Villeurbanne Cedex (France)
M. Betemps
Affiliation:
Laboratoire d'Automatique Industrielle, Institut National des Sciences Appliquées de Lyon, 20 Avenue Albert Einstein, 69621 Villeurbanne Cedex (France)
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Summary

In this paper the authors present a mathematical model of geometric and kinematic behaviour of an original passive compliant device provided with two rotation centres, called DCR–LAI system. This device is designed for a robotic assembly of parts with very small tolerances including a chamfer at the hole. The given modélisation may be used as a decision aid for the choice of a compliant device with regard to characteristics of parts being assembled.

Keywords

Robotic assemblyAutomationComplianceArticulated devices

Information

Type
Research Article
Information
Robotica , Volume 7 , Issue 2 , April 1989, pp. 151 - 157
Copyright
Copyright © Cambridge University Press 1989

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References

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