Design and Construction of Remote Centered Compliance(rcc) Using Double Parallel Mechanism for Automated Polishing of 3d Surfaces

An automatic system which serves as a remote centered compliance(RCC) for polishing 3 dimensional surfaces using a passively compliant end effector (double parallel manipulator) mounted on the wrist of the industrial robot is focused in this paper. For enlarging workspace and avoiding singularity, a double parallel manipulator has been designed by combining two parallel mechanisms with respect to central axis. The motion of the device is decoupled and constrained by the central axis. This leads to simplicity in geometric constraints but needs a novel strategy in mechanism analysis. The passive compliant end effector is used to modify the trajectory of the robot based on the contact geometry and end point forces. The end effector is specially designed to suit the operation to be performed. The system can be used for polishing sculptured surfaces such as dies for sheet metal forming is one area where application of industrial robot can load to significant increase in productivity. The design and fabrication of double parallel manipulator is also done and is presented here in this paper.