Passive Precise Assembly Algorithm for Ring Assembly

This paper proposes the method for assembling a ring into a shaft with the clearance of several micrometers by using a robot manipulator. Assembly by a robot manipulator is difficult compared with other production processes in a factory. This is because there are some problems of the robot positional accuracy, the size tolerance and the deformation of mating parts. The purpose of the proposed method in this paper is to resolve these problems. The features of the method is to utilize the characteristic finger shape and the method is suitable for high-speed assembly because complicated robot control method is not required. Finally, the availability of the method is verified by the experimental results.