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机器人化装配已成为机器人研究与应用的一个热点．１０年前，文献［１］已就此作了综述，本文旨在补充这以后的新成果．首先，简单介绍各种装配机器人和装配设计方法．然后对手腕的各种高精度插轴入孔措施，尤其是高速装配控制进行了详述．文末提出了一些研究方向．
Robot assembly has become a hot research and application of robot. Ten years ago, the literature [1] has been reviewed in this regard, this article aims to supplement the new results after. First, a brief introduction to various assembly robots and assembly design methods. Then the wrist of a variety of precision spindle insertion hole measures, especially the high-speed assembly control were described in detail. At the end of the article, some research directions are put forward.