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Multidirectional Compliance And Constraint For Improved Robotic Deburring. Part 2: Improved Bracing, Joseph M. Schimmels

Mechanical Engineering Faculty Research and Publications

This two-part paper presents a method for both improving the positioning capability and increasing the effective stiffness (bracing) of a robotic manipulator through multidirectional compliance and constraint. Improved positioning and improved bracing are attained through the effective use of multiple unilateral kinematic constraints in different directions. The companion paper identified how to specify the compliant characteristics of a manipulator so contact forces lead to deflections that eliminate positional misalignments and result in improved relative positioning through force guidance. In this part, we show that the characteristics beneficial to force guidance are the same characteristics that provide improved bracing when partially …