What is compliance How can the compliance of an end effector

What is compliance? How can the compliance of an end effector be increased?

Solution

The term compliance refers to flexibility and suppleness. To define what compliance is, the definition of non-compliance is useful. A non-compliant (stiff) robot end effector is a device which is designed to have predetermined positions or trajectories. No matter what kind of external force is exerted the robotic end effector will follow the exact same path each and every time. On the other hand, a compliant end effector can reach several positions and exert different forces on a given object. To make things clearer: a compliant robot gripper can grasp an egg without crushing it with the proper settings. A non-compliant gripper will crush the egg and continue its given operation. Compliance aims towards either process improvement (active) or human safety (passive)

The end-effector compliance can be actively controlled through the joint flexibilities provided by the joint servos or by active force sensing, the usefulness of having the minimum passive compliance in addition to active compliance control can improve performance.