Abstract: A passive wrist DRCC for high speed peg in hole assembly has been fabricated in this study. This device can eliminate bouncing from chamfer surface during high speed assembly. Employing the concepts of generalized centroid and virtual mass,the dynamic process of peg in hole assembly is analyzed. To ensure successful mating,the generalized centroid must be in the close neighborhood of the peg tip and the ratio of virtual masses along horizontal and vertical directions must be minimized. Experiments exhibit that the DRCC can in deed be used at very high speed,and no jamming and wedging occurs,thus a very high reliability is reached.