The dynamic RCC hand for high-speed assembly

The design and analysis of a high-speed insertion hand, the dynamic RCC hand, are presented. The dynamic behavior of a peg in high-speed insertion is analyzed. Conditions for the peg to be guided along the chamfer without bouncing on the surface are derived. Mass properties of the peg and its supporting mechanism that enable successful insertion are determined. A high-speed insertion hand is designed on the basis of the dynamic analysis. Experiments demonstrate the feasibility and usefulness of the dynamic insertion hand.<
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