Virtual Wedging in Three-Dimensional Peg Insertion Tasks

[+] Author and Article Information
R. H. Sturges

Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213

S. Laowattana

Center of Operation for FI eld roBO tics (FIBO), King Mongkut’s Institute of Technology Thonburi, Bangkok, 10140 Thailand

J. Mech. Des 118(1), 99-105 (Mar 01, 1996) (7 pages) doi:10.1115/1.2826863 History: Received December 01, 1994; Revised August 01, 1995; Online December 11, 2007


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.

Copyright © 1996 by The American Society of Mechanical Engineers
Topics: Force
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