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Contact and jamming analysis for three dimensional dual peg-in-hole mechanism

Fei, Y.; Zhao, X.

Mechanism and machine theory. VOL 39; NUMBER 5, ; 2004, 477-499 -- Elsevier Science B.V., Amsterdam. (pages 477-499) -- 2004

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  • Title:
    Contact and jamming analysis for three dimensional dual peg-in-hole mechanism
  • Author: Fei, Y.;
    Zhao, X.
  • Found In: Mechanism and machine theory. VOL 39; NUMBER 5, ; 2004, 477-499
  • Journal Title: Mechanism and machine theory.
  • Subjects: Electrical and Electronic Engineering; Mechanical Engineering; Civil Engineering; Physics; LCC: TJ1 TJ1; Dewey: 621.8110 531
  • Publication Details: Elsevier Science B.V., Amsterdam.
  • Language: English
  • Abstract: For a three dimensional multiple peg-in-hole mechanism, robot assembly is a complex process. In this paper, the force/moment and jamming analysis of the three dimensional dual peg-in-hole mechanism is presented. First, contact states of the three dimensional dual-peg are enumerated. 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, the jamming diagrams are obtained. Based on the analysis, an experiment of a dual peg-in-hole assembly is presented. The results verify that the analysis above is effective.
  • Identifier: Journal ISSN: 0094-114X
  • Publication Date: 2004
  • Physical Description: Electronic
  • Shelfmark(s): 5424.570800
  • UIN: ETOCRN146070836

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