Fine assembly tasks such as electrical connector insertion have tight tolerances and sensitive components, limiting the speed and robustness of robot assembly, even when using vision, tactile, or force sensors. Connector insertion is a common industrial task, requiring horizontal alignment errors to be compensated with minimal force, then sufficient force to be brought in the insertion direction. The ability to handle a variety of objects, achieve high-speeds, and handle a wide range in object position variation are also desired. Soft grippers can allow the gripping of parts with variation in surface geometry, but often focus on gripping alone and may not be able to bring the assembly forces required. To achieve high-speed connector insertion, this paper proposes monolithic fingers with structured compliance and form-closure features. A finray-effect gripper is adapted to realize structured (i.e. directional) stiffness that allows high-speed mechanical search, self-alignment in insertion, and sufficient assembly force. The design of the finray ribs and fingertips are investigated, with a final design allowing plug insertion with a tolerance window of up to 7.5 mm at high speed.

翻译：连接器插入是一个共同的工业任务,要求水平对齐错误以最小的强度予以补偿,然后将足够的力量引入插入方向。同样需要处理各种物体的能力,实现高速速度,并处理物体位置变异的广度。软性抓抓器可以允许在地表几何上的变化中抓取部件,但往往只注重抓紧,无法带来所需的组装力。为了实现高速连接器插入,本文件建议单指,要有结构化的合规和窗体封闭特性。对纤维效应抓紧器进行了调整,以实现结构化(即方向性)硬度,允许高速机械搜索,插入时自相连接,并有足够的组装力。对纤维肋骨和手指骨的设计进行了调查,最后设计允许在高速度7.5毫米的容度窗口中插入插头。