Jamming conditions for multiple peg-in-hole assemblies

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.

Study on Three Dimensional Dual Peg-in-Hole in Robot Automatic Assembly

“…For a dual peg-in-hole insertion, three-point contact states exist only when a certain set of conditions are satisfied. Three-point contact states or fourpoint contact states are transient and considered trivial (Sathirakul and Sturges, 1998). Thus, in the paper, one-point and two-point contact states will be analyzed in detail.…”

“…Thus, in the paper, one-point and two-point contact states will be analyzed in detail. Expect three kinds of line contact states (Sathirakul and Sturges, 1998), there are ten kinds of point contact states when pegs tilt to the left, as shown in Table 1. Table 1 shows all possible point contact states of a dual peg-in-hole in three dimensions.…”

“…Tsaprounis focused on the determination of forces at contact points between a round peg and a hole (Tsaprounis, 1998). Considerable theories have also been studied over the past years that define two dimensional mating between double rigid cylindrical parts (Arai, 1997, McCarragher, 1995and Sathirakul, 1998. Arai described error models and analyzed the search strategy of a two dimensional dual peg-in-hole (Arai, 1997).…”

“…He applied his method to a two dimensional dual peg-in-hole insertion successfully. Sturges analyzed two dimensional dual peg-in-hole insertion problems, enumerated possible contact states, and derived geometric conditions and forcemoment equations for static-equilibrium states of two dimensional dual peg insertions (Sathirakul and Sturges, 1998). The jamming diagrams of a two dimensional dual peg-inhole were obtained.…”

“…Because of the difficulty and complexity in analyzing three dimensional multiple peg-in-hole insertions, most of the analyses of this class of assembly tasks to date were done by simplifying the problems into two dimensions (Arai, 1997, McCarragher, 1995and Sathirakul, 1998. The analyses of the dual peg-in-hole in three dimensions are few (Rossitza, 1998).…”