Cylinder Insertion into Hole of Flexible Rubber Plate – Insertion Force Related to Position and Posture of Cylinder –
Akas Sureng Brata, Keiji Sasaki and Shigeyuki Shimachi
Faculty of Engineering, Iwate University, 4-3-5 Ueda, Morioka-shi, Iwate 020-8551, Japna
We discuss cylinder insertion into a hole of a flexible rubber plate. Rubber plate deformation is modeled using long beams aligned perpendicular to the hole. Insertion force is analyzed in relation to cylinder depth, offset and inclination. Insertion force forms a hyperbolic field in three-dimensional space composed of position and posture parameter coordinates. The magnitude of insertion force is discussed based on insertion trajectory in the hyperbolic field. A human inserting a cylinder might angle it at the start of insertion, making it perpendicular to the rubber surface at the end. The human’s sequence uses a trajectory that minimizes insertion force. We show experimentally a hyperbolic field in position and posture space.