Patent ID: 6792689
Filing Date: 2004-09-21
Classification: B25J

Abstract:
A remote center compliance device, comprising:upper and lower structures arranged in parallel to face each other; a plurality of elastic bodies coupling the upper and lower structures around a central axis of the remote center compliance device; and three or more polar-type limiters of the same heights installed on a first structure of one of the upper and lower structures around the central axis to extend toward a second structure of the other, and arranged such that at least one limiter exists in each of both sides as to a straight line passing through the central axis on a plane vertical to the central axis; wherein each of the limiters includes a head portion having a wide section area on the end portion thereof and screw portions on the lower portion thereof, a gap (t) is given between a flat contact portion on an upper surface of the limiter and an upper surface of the upper structure, a gap (u) is given between an outer circumference of the head portion and an inside surface of a hole (2b) and the gap (t) is set to be smaller in shear transformation limit than an elastic displacement (&dgr;c) of an axis direction and be identical to a predetermined elastic displacement (&dgr;c), so that when a predetermined elastic displacement of an up-and-down direction occurs in the elastic bodies, the predetermined elastic displacement of the elastic bodies is restricted by supporting a contact surface installed on an end portion of the respective limiters by a bedplate installed on the second structure.