In this paper an analysis of the physics of a multiple peg-in-hole assembly task is addressed. Insertion of three pegs, arranged in an equilateral triangle, into three holes simultaneously is chosen as an example case. Although a 3 dimensional problem, the small-angle assumption reduces the model to only 3 degrees of freedom: 2 translations in the XY plane and a rotation about the Z axis. The multiple-pegs are viewed as points in a 3 dimensional configuration-space (C-space.) The net force and torque due to contact during chamfer crossing at each point in the C-space are determined. It is shown that the net force and torque are in the directions of minimizing the lateral and angular errors of the pegs. Based on these data together with compliance models of Remote-Center Compliance (RCC) and Spatial RCC (SRCC), the force and torque that occur during multiple-peg insertion using these passive devices are predicted. The result from the prediction is used to compare the performance of the two devices, and to design strategies for successful insertion of this assembly task.

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