Characterizing the mechanics of rectangular peg-hole disassembly and the effect of the active compliance centre on the extraction force.

This paper aimed at facilitating robotized disassembly for remanufacturing by focusing on the challenge of rectangular peg-hole disassembly. The study explores all potential contact states during the rectangular peg-hole disassembly process and identifies 26 distinct conditions, 16 of which are related to jamming. The contact conditions are categorized into five groups based on the number of contacts with the surface. Thereafter, it provides an in-depth analysis of jamming phenomena during the extraction process, employing both geometrical and quasistatic analyses to establish boundary conditions for jamming. Furthermore, the efficacy of the active compliance centre position in preventing jamming area is explored, considering critical variables such as compliance degree, centre location and initial position errors. The outcomes highlight that positioning the compliance centre at the end of the peg is the most effective strategy for reducing the jamming area and extraction force. Finally, the simulated results are confirmed by experiments and demonstrated 77.1% reduction to the maximum extraction force with the correct active compliance centre position, as opposed to when it is placed at the top of the peg. The findings contribute insights into the intricate dynamics of disassembly, revealing potential avenues for optimizing automated robotic systems in remanufacturing.