Abstract
Insertion is the most common task during assembly in mechanical and electronics industries. Insertion with very small clearance is easier to accomplish in a reliable manner if remote center compliance devices are used. Incidence of jams can be further reduced by lowering the coefficient of friction at the contact points. This is possible by producing mechanical vibrations in the longitudinal direction, so that a lower kinetic friction coefficient comes into play. On the other hand, vibrations in the transverse direction create some relative movement between the peg and the hole, so that insertion can be achieved even if the initial placement is not very accurate.
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