A Multiple RCC Device for Polygonal Peg Insertion.

This paper proposes a new passive compliant center device, the Multiple Remote Center Compliance (MRCC), for assembly tasks. The MRCC introduces a new azimuthal compliance over traditional passive compliance mechanisms that can effectively compensate the peg's orientation deviation for polygonal insertions. Besides, a special feature of the adjustable compliance provides capability to overcome the gravity effect. Non-vertical insertions therefore become possible. A spring-supported object in space is also adopted for stability analysis of this compliant device. Actual experimental assembly processes demonstrate promising results on polygonal insertions in both traditional top-down and horizontal directions.