ASSEMBLING DEVICE

PROBLEM TO BE SOLVED: To provide an assembling device capable of completing insertion of a projecting part into a recessed part in a short time without improving moving operation accuracy and without limiting load capacity and movable range of a robot arm. SOLUTION: This assembling device includes the robot arm 1 for inserting the projecting part of a part 102 having the projecting part into the recessed part 103 by holding a part 101 having the recessed part 103, a holding base 4 for holding the part 102 having the projecting part, a force sensor 2 provided in the holding base 4 to detect moment received by the part 101 having the recessed part 103 or the part 102 having the projecting part when the robot arm 1 inserts the part 102 having the projecting part into the recessed part 103, an actuator 5a for performing a moving operation for the holding base 4, and a passive mechanism 5b for movably supporting the holding base 4 in a direction orthogonal to an inserting direction. When the part 102 having the projecting part is inserted into the recessed part 103, the passive mechanism 5b is displaced by translational force of an inserting direction received by the part fixed to the holding base 4, and the moving operation is performed for the holding base 4 by the actuator 5a based on the detected moment. COPYRIGHT: (C)2010,JPO&INPIT