Electrical Connector Assembly Based on Compliant Tactile Finger with Fingernail.

Robotic assembly of electrical connectors enables the automation of high-efficiency production of electronic products. A rigid gripper is adopted as the end-effector by the majority of existing works with a force-torque sensor installed at the wrist, which suffers from very limited perception capability of the manipulated objects. Moreover, the grasping and movement actions, as well as the inconsistency between the robot base and the end-effector frame, tend to result in angular misalignment, usually leading to assembly failure.