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.