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jamming diagram

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1 results

Jamming conditions for multiple peg-in-hole assemblies
Korntham Sathirakul, Robert H. Sturges
Journal:

Robotica / Volume 16 / Issue 3 / May 1998

Published online by Cambridge University Press:

01 May 1998, pp. 329-345
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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.