3D analysis of contact in peg-hole insertion

Contact types of chamfered cylindrical peg and cylindrical hole are analyzed in three dimensional space heading for the task understanding of insertion of the peg into the hole. Considering deviation and tilt angle of the center axis of the peg to center axis of the hole as parameters, relationships between the contact types and the parameters are investigated and a region map of the contact types in the parameter space is shown. These results are a basis for force analysis of the insertion operation.