Compensator - Remote Center Compliance Devices
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Compensator RCC - Remote Center Compliance Device

COMPENSATOR Product Description The Compensator is a Remote Center of Compliance (RCC) device designed to correct alignment errors with peg-in-hole automated assembly applications. The Compensator is engineered to project a compliancecenter (also known as center-of-compliance) forward by using three or more elastomer shear pads. These shear pads are stiff axially and compliant laterally. When the contact point is near the center-of-compliance, the part will automatically correct lateral and rotational misalignment reducing the contact force and preventing galling and jamming. Because the...

Standard Compensator Other options: The Compensator consists of a single device with all components contained within the unit's outside diameter and includes two high-strength anodized aluminum top and bottom plates, hardened alloy steel overload pins and elastomer bonded shear pads. The 000 and 100 size Compensators use 3 shear pads. The 200 size uses either 3 or 6 shear pads. The 400 size uses 6 or 12 shear pads. Adding extra shear pads when possible will increase strength and stiffness. Lock-up for reducing vibration due to inertia, protecting the shear pads and decreasing cycle time....

COMPENSATOR How it Works The Compensator fits between an assembly machine (e.g. pick and place machine) or robot and a tool (e.g. gripper), providing compliance in the lateral, cocking and torsional directions; yet it is stiff in compression, allowing the force from the assembly machine or robot to transfer to the part for assembly. Compensators have two options for interfacing to an assembly machine or robot. Units can be mounted by using the tapped holes on the robot side (top plate) or by bolting through the robot side (top plate) to the robot or assembly machine. The tool side (bottom...

Intended Use The Compensator is intended to be used in "peg-in-hole" type operations in the vertical orientation. The peg-inhole example is an application involving the insertion of one part into another. There are a variety of peg-in-hole type applications that include: dowel pin insertion, mold alignment, washer insertion, bearings into housings, and shafts into bearings. If the Compensator is used in the horizontal orientation, over time the shear pads will develop sag. Rubber and most rubber-like materials have memorization characteristics. Over time the rubber material memorizes the...

COMPENSATOR Compensator Selection (continued) 2) Calculate the optimum Center-of-Compliance (C-of-C): Calculate the total distance, (L), from the tool side (bottom) plate of the Compensator to the initial contact point of the part being inserted (see diagram on the right). Take into account any interface plates. Select the model with a C-of-C within 30% of the distance L. It is better to have a C-of-C below the insertion point than above. If the fit between the peg and hole is loose, a model with a C-of-C within 60% of distance L is allowable. 3) Determine the required load capacity:...

LOCK - UP AND LOCK SENSING OPTIONS Description The Lock-up option is a pneumatically-driven device that “pulls” the bottom plate toward the top plate while centering the bottom plate to a repeatable location. Varying the air pressure varies the “pull” When . activated, the Lock-up option locks the Compensator rigid, reducing vibration due to inertia. When the Lock-up is deactivated the Compensator is fully compliant. Units equipped with lock-up are recommended to use a supply of clean, dry and non-lubricated air from 60 to 120 psi (4.1 to 8.3 bar). In severe locking conditions, the air...

SPECIFICATIONS Metric Units Size 000 100 200 400* Weight w/(3) Shear Pads (N) Standard w/Lock-up & Sensor 1.3 2.2 3.6 12.3 Standard Units Overall Size (in) Size D H Weight w/(3) Shear Pads (lbs) Standard w/Lock-up & Sensor Allowable Misalignment (Standard) Lateral (mm) Cocking (rad) Torsion (rad) 0.017 0.019 0.019 0.006 Allowable Misalignment (Standard) Lateral (in) Cocking (degree) Torsion (degree) 0.0065 0.085 0.085 0.085 Standard Units Model Number Maximum Load Capacities Vertical (lbs)* Horizontal (lbs)* Compression (lbs) Cocking (in-lbs) Stiffness Lateral (lbs/in) Cocking (in-lbs/rad)...

9116 COMPENSATOR Lock Sensing (100, 200 & 400 sizes only) P: PNP Proximity switch N: NPN Proximity switch S: Sensor ready (customer supplied sensor) Blank: No Lock sensing Lock-up L: Lock-up Blank: No Lock-up Shear Pad Location A: (3) shear pads on inner bolt circle (000 and 200 sizes only) B: (3) shear pads on outer bolt circle (100 and 200 sizes only) C: (6) shear pads, (3) on inner and (3) on outer bolt circle (200 size, 400 size - equally spaced on bolt circle) D: (12) shear pads equally spaced on bolt circle (400 size only) Shear Pad (Refer to the tables on page 3 for more information)...

PRODUCT DRAWINGS (2) Slip Fit Hole Thru for 4 Dowel Equally Spaced Customer Interface (2) Slip Fit Hole Thru for 4 Dowel Equally spaced Customer Interface M4 SHCS Thru (See Note 1) (3) M5-0.8 Tapped Hole Equally spaced Customer Interface (See Note 1) (3) M5-0.8 Tapped Hole Equally spaced Customer Interface (See Note 1) ROBOT SIDE TOOL SIDE Notes: 1. Also option of using M4 SHCS thru the M5 tapped hole for mounting. Mounting hardware not provided. 2. Unit shown with optional lock-up. Hardened Steel Overload Pin Metric Lock-up Screw Lock-up Screw Bushing SECTION B-B ATI INDUSTRIAL AUTOMATION...

(2) Slip Fit Hole Thru for 5 Dowel Customer Interface 45 (2) Slip Fit Hole Thru for 5 Dowel Customer Interface Lock Sensor Location Robot Side Lock Sensor Cable (See Note 2 & 3) M5 SHCS Thru (See Note 1) (6) Tapped M6x1.0, Thru Equally Spaced Customer Interface (See Note 1) (6) Tapped M6x1.0, Thru Equally Spaced Customer Interface (See Note 1) Tool Side Notes: 1. Also option of passing M5 SHCS thru M6 tapped hole for mounting. Mounting hardware not provided. 2. Robot side interface must accommodate sensor cable. Recommended sensor cable exit slot dimensions, 6mm wide by 9mm deep. 3. Unit...