A study on computer-controlled precision assembly

In this paper, a new robotic assembly system has been successfully implemented to conduct precision assembly tasks by using a robot with relatively poor positional accuracy. The peg-into-hole inserting assembly processes are analysed under more general conditions to gain better understanding of the processes and reveal the features of automatic assembly operation. A compensation scheme is proposed for the robot's compliant deformation from links and joints. Based on the analysis a new-type compact flexible wrist is subsequently designed. Finally, the insertion tests were made on the system through the use of the assembly strategy suitable to the above-obtained parts mating theory and the experimental results show the feasibility of the system.