Jamming Analysis and Force Control for Flexible Dual Peg-in-Hole Assembly

In order to deal with automatic assembly problems for flexible components, in this paper we develop contact states analysis, jamming analysis, and force control strategies for flexible dual peg-in-hole assembly. First, contact states in large and small deformation stages are enumerated, respectively. Second, the relationship between forces and moments is derived, and jamming states for different stages are analyzed. Third, control strategies are also presented. Finally, results of experiments verified the effectiveness of the contact state analysis, jamming analysis, and force control strategies.