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本文从理论上分析了选择被动柔顺装置ＲＣＣ进行成功装配的各种约束条件，并运用分析结果开发了被动柔顺装置选用策略的软件．它能针对已有的机器人装配系统，根据轴孔的配合尺寸和成功装配条件，从已建立的被动柔顺装置技术参数库选择与之相匹配的被动柔顺装置，进行装配作业．
In this paper, we analyzed the various constraints for the successful assembly of passive compliance device RCC in theory and developed the software of passive compliance device selection strategy. According to the existing robot assembly system, according to the size of the shaft hole and the successful assembly conditions, the passive compliant device can be selected and assembled from the established technical library of passive compliance devices to perform the assembly work.