Abstract: There are many difficulties in assembly process of complex components, such as the parallel operating in 3D space, multiple assembly objects, etc. In order to solve these problems, a multi-manipulator micro-assembly robot system is developed based on microscopic vision servoing technology. This robot has 6 manipulators, and every manipulator consists of macro-adjustment subassembly, micro-adjustment subassembly and grippers as end-effectors. Five kinds of grippers are developed according to the abnormal shaped parts. All microscopic cameras are equipped with high precision displacement platforms, which make the robot achieve 30 mm× 30 mm× 30 mm large operating space and 2um on-line measuring precision. The robot's assembly accuracy is ± 9 um. A new assembly method of interference fit is developed by means of the combination of micro-vision feedback and contact force feedback. The assembly experiments are well carried out on the developed micro-assembly robot. The experimental results show that the proposed robot system is feasible and its performance can meet the specified assembly requirements.