Abstract: Robotic assembly is a new limelight of robotic application. Although surveyed this topic ten years ago, we attempt to supplement the accomplishments to follow. In this presentation, a brief account of robots for assembly and design for assembly is first given. Further, we elabrate on the various measures which surround wrist aiming to achieve high precision peg-in-hole assembly, and importance is attached to dynamic assembly. In the last part some research directions of value are put forward as well. Owing to limited space, coverage is extensive rather than intensive.