Abstract: Aiming at the problem of excessive contact force and damage to the workpiece caused by jamming or wedge phenomenon encountered in the peg-in-hole assembly process, a robot flexible assembly system based on admittance force control is proposed. The peg-in-hole assembly process is divided into the search phase and the adjustment insertion phase. Firstly, a search strategy based on Archimedes spiral is proposed in the search stage. Secondly, a admittance force control assembly method based on the multi-dimensional direction of equivalent mass-damping-spring is proposed in the adjustment insertion stage. Finally, the circular shaft hole is selected for the actual assembly experiment, and the results show that the proposed method can achieve the robot compliance jack and achieve the expected effect.