We deal with a technical issue of assembling a ring part into a shaft part with the clearance of several micrometers by using a robotic manipulator. This issue is difficult because of deformation of a ring part compared with peg-in-hole assembly. We propose a precise assembly method of a ring part with finger shape to solve this issue. We also propose a method to decide design parameters of the finger by maximizing a closed area in Jamming diagram, which represents a successful condition of assembling rigid parts by quasi-static force analysis. Finally, availability of the proposed method is verified by an experiment of ring assembly with a robotic hand attached to the designed fingers.
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Fukukawa et al. (2016) studied this question.
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