Abstract: Hole searching is a necessary step to peg-in-hole assembly. This paper proposes a hole searching method based on the cone motion of wrist force sensor, which only uses the axis-directed force and controls the position in cartesian coordinates. Using this method, we can accurately mate the bolt and chamferless hole on condition that the original deviation is within the hole's diameter. This method is simple and practical, with high reliability and superiority on searching time.