A ROBOTIC ASSEMBLY SYSTEM BASED ON FORCE FEEDBACK

In this paper,we present a new idea on assembly principle and a newly developed robotic assembly system based on force feedback,which employs a specially designed active/passlve micro manipulator to combine active accommodation with passive compliance function.The experimental setup we built can carry out assembly operation in arbitrary direction in an average time of 1.8 seconds,even under the condition of unchamfered parts.