Peg-hole disassembly using active compliance

Yongquan Zhang, Hong Lu, Duc Pham, Yongjing Wang Wang, Mo Qu, Joey Lim, Shizhong Su

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4 Citations (Scopus)
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When considered in two-dimensional space, a cylindrical peg being withdrawn from a clearance-fit hole can exhibit one of four contact states: no contact, one-point contact, two-point contact and line contact. Jamming and wedging can occur during the two-point contact. Effective control of the two-point contact region can significantly reduce resistance in peg–hole disassembly. In this paper, we explore generic peg–hole disassembly processes with compliance and identify the effects of key parameters including the degree of compliance, the location of the compliance centre and initial position errors. A quasi-static analysis of peg–hole disassembly has been performed to obtain the boundary conditions of the two-point contact region. The effects of key variables on the two-point contact region have been simulated. Finally, peg–hole disassemblies with different locations of compliance centre achieved using active compliance have been experimentally investigated. The proposed theoretical model can be implemented to predict the range and position of the two-point contact region from the perspective of peg–hole disassembly.

Original languageEnglish
Article number190476
JournalRoyal Society Open Science
Issue number8
Publication statusPublished - 21 Aug 2019

Bibliographical note

Funding Information:
Data accessibility. All data sources are provided in the electronic supplementary material. Authors’ contributions. Y.Z., H.L. and Y.W. contributed to the quasi-static model of peg–hole disassembly and drafted the manuscript. Y.Z. contributed to the analysis of the key factors on the peg–hole disassembly and programmed the disassembly model. D.T.P. supervised the research, provided the comments on the disassembly model and experimental results and contributed to the manuscript writing. M.Q. and L.J. contributed to the experimental work of the peg–hole disassembly process. S.S. participated in the analysis of data. All authors approved the final version of the paper. Competing interests. We declare that we have no competing interests. Funding. This work was supported by the National Natural Science Foundation of China [grant no. 51675393]; Engineering and Physical Sciences Research Council (EPSRC) [grant no. EP/N018524/1]; the Royal Society [grant no. IEC\NSFC\181018]; the Special Fund for Key Project of Science and Technology of Hubei Province [grant no. 2017AAA111]; the Fundamental Research Funds for the Central Universities [grant no. 2016-YB-021]; and the Chinese Government Scholarship by the China Scholarship Council [grant no. 201706950051].

Publisher Copyright:
© 2019 The Authors.

Copyright 2019 Elsevier B.V., All rights reserved.


  • Robotic disassembly
  • Remanufacturing
  • Robotics
  • Active compliance
  • Peg-hole disassembly
  • Remote centre compliance
  • Remote centre compliance (RCC)
  • Peg–hole disassembly

ASJC Scopus subject areas

  • General


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