Analysis of Flexible Insertion Assembly of Polygonal Pegs

Abstract

Insertion assembly of polygonal pegs exhibits distinct mating process compared to that for conventional round pegs and holes. Their inherent orientation characteristic increases the degree of complexity of the assembly tasks and limits completion of the insertion assembly. This paper is devoted to analysis of motion behavior of the polygonal peg-hole insertion to clarify constraint conditions for successful insertion assembly. Effective regions for possibly successful insertion assembly on the chamfer surface will also be presented. Therefore, appropriate manipulation strategies can be concluded and automated polygonal insertion assembly becomes realizable in the future.