Virtual wedging in three- dimensional peg insertion tasks

Journal of Mechanical Design, Transactions of the ASME

Volumn 118, Issue 1, 1996, Pages 99-105

  Sturges, R H ^a   Laowattana, S ^b  

^a CARNEGIE MELLON UNIVERSITY   (United States)

^b King Mongkut's institute of Tectinoiogy Tlionburi   (Thailand)

Author keywords

[No Author keywords available]

Indexed keywords

ASSEMBLY; CONSTRAINT THEORY; FITS AND TOLERANCES; FRICTION; MATHEMATICAL MODELS; THREE DIMENSIONAL;

PEG IN HOLE ASSEMBLY; PEG INSERTION; THREE POINT CONTACTS; WEDGING;

MACHINE DESIGN;

EID: 0030106523     PISSN: 10500472     EISSN: None     Source Type: Journal    
DOI: 10.1115/1.2826863     Document Type: Article

References (8)

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 Dynamics Sy.stem, 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.