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This paper describes how force‐guided robot can be implemented in the automated assembly of mobile phone. A case study was carried out to investigate the assembly operations and strategies involved. Force‐guided robot was developed and implemented in the real environment. Proportional‐based external force control with hybrid framework was developed and implemented to perform the compliant motion. In order to perform assembly operations, three basic force‐guided robotic skills are identified. These are stopping, alignment and sliding skills, where the motions are guided by the force feedback. The force‐guided robotic skills are combined and reprogrammed with fine motion planning to perform notch‐locked assembly. The system is optimized for high assembly speed while considering the constraints and limitations involved.

This paper describes the development of a force‐guided robot that uses the information of contact force to overcome component misalignment in the automated assembly of a mobile phone. Several possibilities of misalignment in the assembly of the back chassis and front housing of the mobile phone are studied. An assembly approach using force‐guided motion is implemented to perform the assembly task. The assembly operation was carried out in the presence of translational and rotational misalignment of the mating components. Experimental results show that the proposed assembly approach successfully performs the assembly task.