Assembly tasks have been studied by many researchers for a long time, but the accomplishment of effective assembly operations still deserves more research efforts in many cases: a new parallel kinematics machine has been proposed for this kind of tasks and an hybrid position/force controller has been synthesised for the execution of operations constrained by the contact with the environment. In this paper the architecture of the system is briefly explained, then its dynamic behaviour is tested in a virtual prototyping environment with reference to the well-known problem of mating a cylindrical peg with a hole: a model of the operation has been developed, based on the classic studies on the subject, then an assembly planner has been implemented. The simulation results that have been obtained seem to support the opinion of the Authors about the good performances of the mechatronic system for the execution of assembly operations, especially if high velocities are not requested.
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