Abstract
The manufacture of items with such stringent precision and cleanliness requirements that they cannot be assembled by human beings is addressed. The development of highly engineered compliant (springy) robot wrists, called remote center compliances (RCCs), that permit close clearance parts to be assembled with almost no contact force is described. An assembly system for inertial instruments that automated all material handling, cleaning, assembly, and test operations was designed with RCCs so complaint that they exert less force on the parts than people can detect with their fingers. Both the RCCs and the assembly system are described.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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