A new approach to the design of an assembly end effector for the high-speed insertion of a peg into a chamfered hole is presented. The peg is supported by a special mechanical hand that allows it to be guided along the chamfer surface without bouncing on it, even when bumping against the chamfer at a high speed. The dynamic process of the peg insertion is analyzed, and mass properties of the hand mechanism for successful insertion are derived by using the theory of generalized centroid and virtual mass. Namely, for successful high-speed insertion, the generalized centroid must be put near the tip of the peg, and the virtual mass in the horizontal direction must be minimized. Following this, a hand that meets the mass property conditions is designed, built and tested. It is demonstrated that this hand accomplishes a high approach-speed of over 2 m/s.

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