IN THE CASE OF PRECISION ASSEMBLY OF PRISMATIC PARTS, THE DIFFICULTY INVOLVED WITH INSERTION PROCESS IS FURTHER AMPLIFIED DUE TO ASYMMETRY OF PART GEOMETRY. TO OVERCOME THIS PROBLEM, A VIBRATORY ASSEMBLY METHOD IS INVESTIGATED USING A PWM-CONTROL BASED PNEUMATIC VIBRATORY WRIST. THE PNEUMATIC VIBRATORY WRIST IS SO CONSTRUCTED THAT IT CAN VIBRATE IN TWO DIRECTIONS (X-Y) AND AT THE SAME TIME OSCILLATE IN A ROTATIONAL DIRECTION. THE EXPERIMENTAL RESULTS SHOW THAT THE PROPOSED VIBRATION METHOD CAN EFFECTIVELY COMPENSATE FOR INITIAL LATERAL AND ANGULAR POSITIONING ERRORS WHEN ASSEMBLING CHAMFERLESS PRISMATIC PARTS.