Grippers for Adaptive Robotic Assembly

In the preparation for robotic assembly variety of experiments was performed, examining relation between the gripper stiffness and its passive adaptivity. The basic couples nut-bolt, pin-hole and spline-keyseat are supposed to be elementary operations in assembly technology and are dealed separately. The conclusions are drawn for the gripper construction and the scope of active and passive grippe application is settled. The active gripper construction is introduce.