Abstract: A compliance device includes a fixed platform in which a fixed origin of a fixed coordinate system having 3 axes of X-Y-Z is defined, a moving platform which is configured to move relative to the fixed platform and in which a moving origin of a moving coordinate system having 3 axes of x-y-z is defined, and a compliance mechanism including a plurality of unit compliance mechanisms configured to elastically support the moving platform against the fixed platform, each of the plurality of unit compliance mechanisms including a cantilever structure, which includes a first end fixed to the fixed platform and a second end on the opposite side from the first end, and a link, which is coupled to the second end of the cantilever structure via a first ball joint and coupled to the moving platform via a second ball joint.

Abstract: An apparatus for automatically fastening a chemical coupler to a connector of an automatic clean quick coupler (ACQC) system, includes a main body, a multi-degree of freedom (DOF) robot arm on the main body, a gripper on the multi-DOF robot arm that is configured to grip the chemical coupler, a vision sensor on the multi-DOF robot arm, and a controller connected to the gripper, the multi-DOF robot arm, and the vision sensor. The controller uses information about an environment surrounding the multi-DOF robot arm acquired by the vision sensor, to control an operation of the multi-DOF robot arm and an operation of the gripper.