对粗糙孔壁的机器人轴孔无卡阻装配的条件进行了分析，设计了一种基于磁场力的主动–被动结合的柔顺装置用于解决装配卡阻问题，其中被动柔顺部分采用磁场排斥力连接，在装配过程中使末端执行器与轴分离，大幅减小连接处阻力和阻力矩，然后通过旋转磁力推拉式主动柔顺装置产生的力矩使轴脱离卡阻点． 使用带有开放式运动控制卡的三坐标运动平台加一维力传感器，对 4 组不同直径的轴孔对进行了实验，结果显示主动–被动结合柔顺装置能够有效克服粗糙孔壁轴孔对的卡阻问题，装配时间最快在 10s内，证明所设计的柔顺装置和阻尼控制算法有效．

In this paper,the conditions for the jamming-free peg-in-hole assembly of holes with coarse internal sur- face are analyzed,and a magnetic force-based active-passive compliant device is designed to avoid the jamming.In this device,a passive compliant section connected by repulsive magnetic force is used to separate the shaft from the end-effector in the process of assembly.Thus,both resistance and resistance moment significantly decrease.After that,a rotational push-pull active compliant section connected by magnetic force is employed to generate a torque for the escape of shaft from jamming point.In addition,a three-axis motion platform with open-structured motion control card and a one-dimension force sensor are deployed to conduct experiments for four pairs of shaft and hole with different diameters.The results indicate that the designed active-passive compliant device can effectively avoid the jamming in the assembly process of holes with coarse internal surface,and that the assembly can be finished within 10 seconds,which means that the proposed device and the corresponding damping control algorithm are both effective.