Design and Analysis of Remote Center of Compliance Structures

Remote center-of-compliance devices were developed to facilitate insertion for assembly operations. An analysis using screw theory yields a more accurate model to better characterize the interesting properties of remote compliance. For design purposes, the remote center location and stiffnesses are presented as nondimensional ratios that are only functions of geometrical properties and Poisson's ratio. Important design results are (i) the high sensitivity of the center location and (ii) the inverse relationship between linear and angular lateral stiffnesses. © 2003 Wiley Periodicals, Inc.