A study on peg and hole assembly using RCC

RCC(Remote Center Compliance)[1][2] is a useful device for peg and hole insertion works. Two methods for smooth insertion of round peg and round hole are proposed. The idea of method 1 is to design the optimum position of the compliance center of RCC which is different from that of usual RCC in order to minimize the insertion force with the assumption of the known insertion angle. The idea of method 2 is to insert peg with rotation in order to decrease the friction coefficient between peg and hole. The two ideas are analyzed theoretically and are shown valid experimentally.