A passive mechanism for insertion of convex pegs

The author expands on some recent results for more generalized insertions in robotics to develop and analyze a passive mechanism capable of inserting arbitrary convex shaped parts. He implemented the strategies of H. Inoue (1979) and S. Simunovic (1979) on a system comprised of commercially available components (a PUMA 560 robot and an Astek six-axis force-torque sensor). It was not possible to use either of these strategies to insert parts of even modest clearance due to the requirements for precision in force sensor measurements and in position measurements at the end of guarded moves. The author was successful, however, in using force-servoing of the PUMA to implement a remote center of compliance. With the PUMA and a servo-based remote center of compliance, he was able to insert chamfered 1 in. pegs with clearance of 0.001 in