The mechanical behavior of RCC (Remote Center Compliance) devices using elastomer shear pads depends on the number of elastomer-metal layers, the thickness and radius of the elastomer and metal, and the axial and lateral stiffness of the elastomer. These parameters have to be considered for complete analysis or design of the RCC devices. This paper presents a useful method of analyzing the behavior of RCC devices using elastomer shear pads based on the material mechanics approach. This makes it easy to design a new RCC device for a specific purpose. We also developed a projection/stiffness variable type RCC device. Although this variable type RCC device is adjusted manually, assembly parts with several length can be treated with this one RCC. Simulation and experimental results are presented.