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Jamming conditions for multiple peg-in-hole assemblies

Published online by Cambridge University Press:  01 May 1998

Korntham Sathirakul  and
Robert H. Sturges
Korntham Sathirakul
Affiliation:
Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA. ks6b@andrew.cmu.edu,
Robert H. Sturges
Affiliation:
Department of Industrial and System Engineering, Virginia Polytechnic Institute, Blacksburgh, VA 24061-0118, USA. sturges@vt.edu
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Abstract

Reliable flexible assembly workstations depend ultimately on the physics of assembly tasks performed. Multiple-peg insertions, as a practical assembly class, is complicated by the large number and kind of interaction between mating parts.

In this article, geometric and quasi-static analyses of multiple-peg insertions are presented. First, a possible contact-state enumeration, geometric conditions for each contact-state, and the force-moment equations for static-equilibrium states of two dimensional dual-peg insertions are derived. The jamming diagrams and the taxonomy of dual-peg insertions are obtained. Then, an experiment to verify the analysis is presented.

Keywords

Multiple peg insertionJamming conditionJamming diagramAssembly analysisFlexible assembly
Type
Research Article
Information
Robotica , Volume 16 , Issue 3 , May 1998 , pp. 329 - 345
Copyright
© 1998 Cambridge University Press

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