Remote center compliance device with fully or partially coil-bound springs

摘要

An improved remote center compliance (RCC) device having translational and rotational compliance. The RCC device includes at least two spaced monolithic members having a common axis extending therethrough. Adjacent pairs of monolithic members are interconnected by a stage including at least three discrete coil springs spaced about the axis of the monolithic members. Each spring is axially extensible and laterally deformable for providing both rotational and translational compliance about a center of compliance. The improvement includes providing coil springs that are at least partially coil-bound to increase the ratio of axzial stiffness to lateral stiffness of the springs and increase the projection of the center of compliance away from the RCC device.