In kinematic couplings, contact friction leads to uncertainty in the contact reaction
force balance, resulting in unknown Hertzian deformation and consequently in the
nested position. A model is created to predict all valid nested positions for a twodimensional
kinematic coupling, using the friction coefficient as simplification for all
friction behavior. A suitable experimental setup is created, allowing control of the
order in which the three contacts engage. Each of these contact sequences led to
distinctly different and repeatable nested positions, confirming the importance of
sequence control during coupling engagement. The spread of the measured nested
positions with different contact sequences does not contradict the model prediction,
but is insufficient for a strong claim on model validity. This is partly due to limited
calibration quality, as well limited scope of experimental setup parameters.