Quasi-Static Assembly of Compliantly Supported Rigid Parts

[+] Author and Article Information
D. E. Whitney

The Charles Stark Draper Laboratory, Inc., Cambridge, Mass. 02139

J. Dyn. Sys., Meas., Control 104(1), 65-77 (Mar 01, 1982) (13 pages) doi:10.1115/1.3149634 History: Received February 09, 1981; Online July 21, 2009


Geometric and force equilibrium conditions for successfully mating rigid parts are presented. The action of the Remote Center Compliance is explained. Guidelines for choosing RCC parameters are presented. Models of insertion force behavior are verified by experimental data.

Copyright © 1982 by ASME
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