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Jamming analyses for dual peg-in-hole insertions in three dimensions

Published online by Cambridge University Press:  12 January 2005

Yanqiong Fei  and
Xifang Zhao
Yanqiong Fei
Affiliation:
Research Institute of Robotics, Shanghai Jiao Tong University, Huashan Road 1954, Shanghai 200030 (P. R. of China) E-mail: fyq@sjtu.edu.cn
Xifang Zhao
Affiliation:
Research Institute of Robotics, Shanghai Jiao Tong University, Huashan Road 1954, Shanghai 200030 (P. R. of China) E-mail: fyq@sjtu.edu.cn
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Abstract

In this paper, jamming analyses of the three dimensional dual peg-in-hole are presented. First, for a three dimensional dual peg-in-hole, possible contact states are enumerated and geometric analyses are presented. Second, the contact forces are described by the screw theory in three dimensions. The force/moment equations for static equilibrium states of three dimensional dual-peg insertions are derived. Third, jamming diagrams are obtained. Eleven kinds of possible jamming diagrams are analyzed. Finally, an experiment of a dual peg-in-hole assembly is presented to show the effectiveness of the above analyses.

Keywords

Robot automatic assemblyDual peg-in-holeJammingThree dimensions
Type
Research Article
Information
Robotica , Volume 23 , Issue 1 , January 2005 , pp. 83 - 91
Copyright
2005 Cambridge University Press

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