Peg-hole disassembly using active compliance

Research output: Contribution to journalArticle


Colleges, School and Institutes

External organisations

  • Wuhan University of Technology


When considered in 2D space, a cylindrical peg being withdrawn from a clearance-fit hole can exhibit one of four contact states: no contact, one-point contact, two-point contact and line contact.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 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 disassembly with different locations of compliance centre achieved using active compliance has 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
JournalRoyal Society Open Science
Issue number8
Publication statusPublished - 21 Aug 2019


  • Robotic disassembly, Remanufacturing, Robotics, Active compliance, Peg-hole disassembly, Remote centre compliance