#7570. Search trajectory with twisting motion for dual peg-in-hole assembly

October 2026publication date
Proposal available till 20-05-2025
4 total number of authors per manuscript0 $

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Journal’s subject area:
Computational Mechanics;
Engineering (miscellaneous);
Mechanical Engineering;
Artificial Intelligence;
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Abstract:
This paper proposes a search trajectory for a dual peg-in-hole assembly in the presence of uncertainty. To assemble a dual peg into a dual hole, the peg should be guided to the hole by coinciding with both position and orientation. Regarding this requirement, the trajectory of the dual peg is designed by the following new concepts: insertion guarantee region and hole insertion condition.
Keywords:
Dual peg-in-hole; Hole insertion condition; Insertion guarantee region; Robotic assembly; Search trajectory

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