Abstract

Quasi-static wedging of three point contacts is investigated, wherein the concepts of virtual and redundant wedging due to a resultant force falling into a frictional cone are proposed. We consider the fully started case of a square peg and hole consisting of two point-surface contacts and one line-line contact. An analysis of the wedging diagram for this highly constrained configuration is carried out and compared to the two-dimensional case. An approximate wedging diagram is constructed which shows that wedging of square pegs into square holes is more likely than cylindrical pegs and holes of similar sizes.

Issue Section:
Research Papers
1.
Eppinger, S., and Seering, W., 1987, “Introduction to Dynamic Models for Robot Force Control,” IEEE Control Magazine, Vol., No. 2, April.
2.
Whitney
D. E.
,
1982
, “
Quasi-Static Assembly of Compliantly Supported Rigid Parts
,”
ASME Journal of Dynamic Systems, Measurement, and Control
, Vol.
104
, pp.
65
–
77
.
3.
Caine, M. E., 1985, “Chamferless Assembly of Rectangular Parts in Two and Three Dimensions,” Master thesis, Dept. of Mechanical Engineering, Massachusetts Institute of Technology, June.
4.
Strip, D. R., 1988, “Insertion Using Geometric Analysis and Hybrid Force-Position Control: Method and Analysis,” Proceedings of the IEEE International Conference on Robotics and Automation, Philadelphia, PA.
5.
Strip, D. R., 1988, “A Passive Mechanism for Insertion of Convex Pegs,” Sandia National Laboratories.
6.
Sturges
R. H.
,
1988
, “
A Three Dimension Assembly Task Quantification with Application to Machine Dexterity
,”
The International Journal of Robotics Research
, Vol.
7
, pp.
34
–
78
.
7.
Faverjon, B., and Ponce, J., 1991, “On Computing Two-Finger Force-Closure Grasps of Curved 2D Objects,” Proceedings of the 1991 IEEE International Conference on Robotics and Automation, Sacramento, CA, pp. 424–429, April.
8.
Hunt, K. H., 1978, Kinematic Geometry of Mechanisms, Oxford University Press.
9.
Ohwovoriole, M. S., and Roth, B., 1981, “An Extension of Screw Theory,” ASME JOURNAL OF MECHANICAL DESIGN, Vol. 103.
This content is only available via PDF.
Copyright © 1996
 by The American Society of Mechanical Engineers
You do not currently have access to this content.