Variable passive compliance apparatus and variable passive compliance gripper having the same

摘要

The present invention relates to a variable passive rigidity apparatus and a variable passive rigidity gripper having the same, wherein the apparatus is formed to change rigidity by using compliance columns and a variable rigidity control unit providing rigidity for a gripper to be deformed in case of assembly. Therefore, a position error of a workpiece and process tolerance can be appropriately treated to improve assembly speed and assembly quality. According to the present invention, in the variable passive rigidity apparatus, a plurality of compliance columns are arranged between an upper structure and a lower structure arranged to be vertically spaced, and rigidity can be varied by varying the number and a type of the compliance columns coupled by rotation.