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Dynamic analysis of vibratory insertion process

Sigitas Kilikevicius (Department of Engineering Design, Faculty of Mechanical Engineering and Mechatronics, Kaunas University of Technology, Kaunas, Lithuania)
Bronius Baksys (Department of Mechatronics, Faculty of Mechanical Engineering and Mechatronics, Kaunas University of Technology, Kaunas, Lithuania)

Assembly Automation

ISSN: 0144-5154

Article publication date: 2 August 2011



The paper aims to investigate theoretically and experimentally the process of compliantly supported peg insertion into a bush for high‐speed assembly, when vibrations are provided to the bush in the axial direction, and to analyse the influence of the parameters of the dynamic system and excitation on the assembly process.


The mathematical model of parts vibratory insertion process is formed and the simulation is performed using a numerical computing software environment. The model includes inertia, compliance, dry friction, insertion speed and vibratory excitation. The three‐dimensional simulation of peg‐in‐hole insertion is accomplished using motion analysis software to test the influence of vibratory excitation on assembly failures, such as jamming and wedging. The experimental setup for the robotic vibratory assembly and the investigation methodology were presented. The experimental analysis of the vibratory insertion process of cylindrical parts with clearance is performed when the compliantly supported peg is inserted by the robot into the bush, which is excited in the axial direction.


The vibratory excitation allows preventing the balance between the insertion force and frictional forces and so to avoid jamming and wedging. It is advantageous to select such the frequency of vibrations under which the resonance state of the compliantly supported peg does not occur. The parameters of vibratory excitation and initial assembly state are defined which have the principal influence on the insertion duration and the success of the process. The experimental results show the applicability of the mathematical approach.

Research limitations/implications

The assumption is made that the chamferless rigid peg moves in a plane in respect of the rigid bush with a chamfer. Also, it is considered that there is no impact during the peg and bush contact. The dynamic and static friction coefficient between the parts is equivalent and the insertion speed is constant.

Practical implications

The results can be useful aiming to design the reliable high‐performance vibratory assembly equipment for peg‐hole type parts, which does not require sensors, feedback systems and control algorithms.


The proposed method of applying the vibratory excitation during the peg‐in‐hole insertion process allows to avoid jamming and wedging, and to minimize the duration of the process.



Kilikevicius, S. and Baksys, B. (2011), "Dynamic analysis of vibratory insertion process", Assembly Automation, Vol. 31 No. 3, pp. 275-283.



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