If you would like to write for this, or any other Emerald publication, then please use our Emerald for Authors service information about how to choose which publication to write for and submission guidelines are available for all. Please visit www.emeraldinsight.com/authors for more information. About Emerald www.emeraldinsight.comEmerald is a global publisher linking research and practice to the benefit of society. The company manages a portfolio of more than 290 journals and over 2,350 books and book series volumes, as well as providing an extensive range of online products and additional customer resources and services.Emerald is both COUNTER 4 and TRANSFER compliant. The organization is a partner of the Committee on Publication Ethics (COPE) and also works with Portico and the LOCKSS initiative for digital archive preservation. AbstractThis paper discusses a novel assembly method and system for a commercially available 8 mm diameter miniature planetary gearhead. Our system comprises a commercially available four-degree of freedom industrial robot, two vision systems, a force feedback system in the robot wrist, and specially designed flexible part feeders. The system has proved successful in assembling planetary gear units independently. Depending on the task, one can select whether to use the high accuracy and repeatability of the robot or alternatively use programmable frequency vibration in the gripper to stochastically align the parts that the robot handles.