SUMMARY In this paper the authors present a mathematical model of geometric and kinematic behaviour of an original passive compliant device provided with two rotation centres, called DCR–LAI system. This device is designed for a robotic assembly of parts with very small tolerances including a chamfer at the hole. The given modélisation may be used as a decision aid for the choice of a compliant device with regard to characteristics of parts being assembled.
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Jutard et al. (1989) studied this question.