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Assembly algorithm for plastic ring with characteristic finger shape

This paper proposes the method for assembling a plastic ring into a shaft with the clearance of several micrometers by using a robot manipulator. Assembly by a robot manipulator is difficult compared with other production processes in a factory. This is because there are some problems of the robot positional accuracy, the dimensional tolerance and the deformation of mating parts. The purpose of the proposed method is to resolve these problems. Also, the advantage of the method is suitable for high-speed assembly because complicated robot control method is not required. Finally, the availability of the method is verified by the experimental results.