The Key to the Mixed Method Dilemma

A robot wrist for introducing a male part into a bore, the end of the part and/or the opening of the bore being chamfered, and which has an arm connected to the robot, an end piece adapted for carrying the part and connecting elements fixed to the arm and the end piece allowing free movement of the end piece with respect to the arm, and ensuring self centering of this end piece. The connecting elements are magnetized in the direction of their axis and are interposed between the arm and the end piece, disposed so as to attract each other mutually and separated from each other by balls.

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