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

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 three dimensional dual-peg insertions are derived. Third, jamming diagrams are obtained. Eleven kinds of possible jamming diagrams are analyzed. Finally, an experiment of a dual peg-in-hole assembly is presented to show the effectiveness of the above analyses.