Development of Variable RCC Using Elastomer Shear Pads

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 for the design of the 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. We also developed a projection / stiffness variable type RCC(VRCC), and verified that the VRCC duplicates the performance of a wide range of commercial fixed-type RCCs. Simulation and experimental results are also presented.