Jamming analyses for dual peg-in-hole insertions in three dimensions

Abstract

In this paper, jamming analyses of the three dimensional dual peg-in-hole are presented. First, for a three dimensional dual peg-in-hole, possible contact states are enumerated and geometric analyses are presented. Second, the contact forces are described by the screw theory in three dimensions. The force/moment equations for static equilibrium states of… (More)
DOI: 10.1017/S0263574704000578

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Cite this paper

@article{Fei2005JammingAF, title={Jamming analyses for dual peg-in-hole insertions in three dimensions}, author={Yanqiong Fei and Xifang Zhao}, journal={Robotica}, year={2005}, volume={23}, pages={83-91} }