Fig. 1. Structure of silicon arm， aluminum sleeve and TMP component

Fig. 2. Relationship between gray-scale and deformation

Fig. 3. Gray-scale calculation diagram of claw

Fig. 4. Relationship analysis between deformation and pose

Fig. 5. Relationship curves of α-h

Fig. 6. Relationship model between deformation and pose

Fig. 7. Attitude model in 3D space

Fig. 8. Analysis of contact point in claw direction

Fig. 9. Analysis of contact point on the claw bisector

Fig. 10. Analysis of contact point between two claws

Fig. 11. Schematic diagram of silicon arm and sleeve with only position deviation

Fig. 12. Deformation and gray-scale variation trend

Fig. 13. Deformation analysis of silicon arm

Fig. 14. Interference fit control strategy

Fig. 15. Burrs affect gray-scale variations

Fig. 16. Assembly experiment based on deformation control

Fig. 17. Approach trajectory and TMP photograph