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

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.