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Jamming conditions for multiple peg-in-hole assemblies

Published online by Cambridge University Press:  01 May 1998

Korntham Sathirakul
Affiliation:
Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA. [email protected],
Robert H. Sturges
Affiliation:
Department of Industrial and System Engineering, Virginia Polytechnic Institute, Blacksburgh, VA 24061-0118, USA. [email protected]

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.

Type
Research Article
Copyright
© 1998 Cambridge University Press

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