A pin at a critical pin height is guaranteed to topple the part from one stable orientation to the next without jamming.
We must ensure that the part will fall to the next stable orientation without jamming.
When the different failure modes are considered, the possible results of a failure is identified as jamming, breaking, corrosion, and fatigue.
Without knowing the exact dimensions of the pegs and the holes, the jamming diagram associated with the problem in consideration cannot be determined.
These jamming diagrams can be used to plan fine motion strategies for successful insertions.
Jamming is the complement of the rolling process.
The force-moment conditions to guarantee successful insertion are obtained from the intersection of all possible jamming diagrams.
The jamming diagrams associated with the problem, then, can be determined.
