Characterizing the mechanics of rectangular peg–hole disassembly and the effect of the active compliance centre on the extraction force
Farzaneh Goli, Ali Aflakian, Mo Qu, Yue Zang, Mozafar Saadat, Duc Truong Pham, Yongjing Wang · 2024
Read Characterizing the mechanics of rectangular peg–hole disassembly and the effect of the active compliance centre on the extraction force by Farzaneh Goli, Ali Aflakian, Mo Qu, Yue Zang, Mozafar Saadat, Duc Truong Pham, Yongjing Wang (2024) in the Tower of Babel, a free online library of public-domain works preserved in clean, searchable text. No sign-up. The full text is served as a plain-text file at a predictable URL, where text is present: https://antarctic-labs.com/tower-of-babel/pmc-11597411.txt.
Description
Farzaneh Goli and co-authors study in 2024 the mechanics of pulling a rectangular peg out of its hole, a basic move in robot disassembly for remanufacturing. Parts jam during extraction, and jammed parts slow or break automated recycling lines. The team mapped every way the peg can touch the hole walls during the pull.
They found twenty-six distinct contact states, sixteen of them tied to jamming, grouped by how many contact points form. Geometry and force analysis set the boundary conditions where jamming begins. They then asked where a flexible gripping center should sit to fight it. Placing that center at the peg's end shrank the jamming zone most. Bench tests confirmed the math: the right placement cut the peak extraction force by about seventy-seven percent compared with placing the center at the peg's top.
Catalog record
| CREATOR | Farzaneh Goli, Ali Aflakian, Mo Qu, Yue Zang, Mozafar Saadat, Duc Truong Pham, Yongjing Wang |
|---|---|
| YEAR | 2024 |
| COLLECTION | PAPERS |
| FORMAT | TXT |
| FILE SIZE | 45 KB |
| VERSION | 1.0 |
| LICENSE | CC BY 4.0 |
| RIGHTS | CC BY |
| SOURCE | Europe PMC |