Parts mating aided by constant-amplitude sinusoidal motions

This paper presents an analytical and experimental investigation of engagem ent of parts aided by two orthogonal constant-amplitude sinusoidal motions in mechanical assembly. In the analytical investigation we analyze how, the amplitudes, frequencies, frequency ratio, and phase angle of the two motio ns affect the engagement. A numerical technique is developed for selecting these parameters, and a parts engagement strategy capable of recognizing va rious failure situations in peg-in-hole assembly is developed. Experiments are conducted to verify the validity of the parts engagement strategy as we ll as to provide useful information about the characteristics of contact fo rce during the engagement.