Small part assembly using partial fixturing technique

This paper presents a method for assembling small parts typically found in consumer electronics such as cell phones and PDAs. Unlike traditional automation solutions that require parts be fully fixed, the proposed method allows a part, when pushed, to move in a partially constrained manner relative to its fixture. The pushing motion comes from the mating part gripped by the robot. The fixture and the pushing motion are designed such that the motion of the part within the fixture will correct the misalignment between the two parts. After the alignment is achieved, the assembly is accomplished either by the continuation of the same pushing motion or another motion. Due to the elimination of the accurate fixture, the presented method provides an inexpensive and robust alternative for assembling small parts.