Realization of wire-in-hole operation with a two-finger precision manipulator

This paper researches the typical assembly operation of flexible objects, and considers inserting a flexible wire into a hole with a magnetically actuated micromanipulator. Conditions for successful insertion are first analyzed. A person’s motion of inserting a flexible beam into a hole is analyzed, and an insertion approach that mimics human motion is proposed. Experiments for the wire-in-hole operation verify the proposed approach. Here, the experiment platform is first introduced, and then an experiment involving the insertion a wire into a micromachined slot is reported. Experiment results prove the feasibility and efficiency of the proposed approach .