In this paper, the characteristics of multi peg-in-hole-assembly (MPHA) is analyzed and an assembly machine is designed for a typical application of this kind of complex assembly task.

• 在分析多轴孔装配这种复杂装配作业的特点的基础上，以一个典型的三轴孔装配实例为背景，设计了相应的装配机。