Abstract
Automation constraints today are leading to an increased use of industrial robots not only in manufacturing but also in assembly operations. There are two ways to solve special assembly problems: assembly-oriented product design, and, if due to any reason this isn't possible, the development of special robotic tools. In the following an assembly system is presented with which it is possible to mate workpieces with different, non-circular groove contours. This is possible by changing only the motional sequence of the mating process, so in case of using a programmable handling device even model-mix-working can be done. The principle function of the system is based on a roller which is driven by an electrical motor to generate a defined slip between tool and workpiece during translation along the mating path. (IPA)