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This paper aims to estimate the required insertion force and to analyze the influence of damping in a compliantly supported chamfered peg-in-hole assembly under dynamic conditions.

A mathematical model of the insertion process, including damping coefficient and stiffness of the compliance, insertion speed, mass, inertia and friction coefficient, has been developed. Computer aided design (CAD) model of the peg-in-hole assembly environment with passive compliance is created. The dynamic insertion force of the modeled environment is analyzed using multibody dynamics numerical solver.

The damping property of the viscoelastic materials used in the passive compliances suppresses the vibration caused due to the impulses in the transition of the peg in hole. It also increases the insertion force required for the peg insertion at the initial stage.

As the search strategies are not considered in this work, it is assumed that the initial contact is ensured between the chamfer and the peg of the assembly. A constant insertion speed is maintained throughout the insertion. Otherwise, it could have been varied at different stages of the insertion for reducing the assembly time.

The developed assembly model can be used for predicting the insertion forces of a chamfered peg-in-hole assembly and for designing/selecting the compliance device for the required assembly environment.

The proposed insertion model has considered the damping and elastic property of the compliance material as a parallel arrangement of spring and dashpot. This approach aids in modeling an insertion process closer to real-time assembly process.