TOOL COMPLIANCE DEVICE AND METHOD

摘要

A tool compliance device for use with a robot (10) for removing material on a workpiece (70) comprises a tool compliance unit (22) including a rotary actuator (24) having its fixed portion (26) rigidly coupled to a rotary end element (20) integrated at the robot working end and a pivoting end element (28) secured to a pivoting member (32) having a trailing portion supporting a tool assembly (39). The latter is provided with a tool (46) having guides (54, 56) contacting the workpiece (70). In use, the pivoting member (32) is pulled according to a tool working path while the rotary end element (20) brings the fixed portion (26) of the rotary actuator (24) in a position wherein the pivoting member (32) is allowed to pivot with the tool assembly (39) enabling the tool (46) to move within a tool compliance range at a working position along the tool working path upon contact of the guides (54, 56) against the workpiece (70) under torque applied by the rotary actuator (24).