When designing the automation for insertion assembly schemes, the shapes of inserted components and insertion forces (part deformations due to insertion reaction forces) must be taken into consideration on the part holding mechanisms.

(1) Example of automated insertion of long shaft-like objects

・When inserting locating shafts and rotary shafts into circuit boards and plastic boards ([Fig.1]), adhesives are not used on the shafts, and elastic deformations of inserted holes are used to fix the shafts.

・In these cases, troublesome operation errors may be caused by difficult to repair PC board damages if the automated insertion errors occur.

・Elastic deformations of the PC boards at the time of insertion may cause unexpected complex reaction forces. Reaction forces and rotational twists. Part holding mechanisms ([Fig.3]) that reduce the effects of these variations are important.