Abstract: Based on the review of the parts mating theory,this paper presents an assembly strategy for arbitrary convex peg hole parts and multiple peg hole parts and an assembly system which consists of a newly developed robotics and manipulator with the force function and PUMA562 robot.Different from common design,this micro manipulator combines both active accommodation and passive compliance in one.The system can carry out arbitrary convex peg hole parts assembly operations along any direction.Typical experiment results are presented at the end of the paper.