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.

中文翻译：

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灵活双孔销组件的干扰分析和力控制


为了解决柔性部件的自动装配问题，本文开发了柔性双钉孔装配的接触状态分析、干扰分析和力控制策略。首先，分别列举大变形阶段和小变形阶段的接触状态。其次，推导了力与力矩的关系，并分析了不同阶段的干扰状态。第三，还提出了控制策略。最后，实验结果验证了接触状态分析、干扰分析和力控制策略的有效性。