This research presents a novel robot system that utilizes a continuous variable stiffness wrist to enhance compliance and accelerate the assembly process. The system is designed explicitly for shaft-hole operations. We developed a wrist that meets the required standards and suggested a combination of active and passive insertion control approaches that are both strong and resilient. This strategy relies on force and visual data. The fundamental concept of the control method is to calculate the position and orientation of the component by utilizing the data on the force exerted during contact between the components and the stiffness of the contact between the shaft and hole portions. This approach transforms the rigid assembly into a flexible contact system. Passive compliance supervision enables the shaft-hole assembly operation to be carried out with minimal alignment mistakes, lowering the precision needed for part alignment. The camera supplies the first positional data of the shaft component for the robot system. The performance of the variable stiffness wrist stiffness is next examined, followed by a discussion of the calculation of relative deformation between parts using contact force information. A novel and strong insertion control strategy, which combines active and passive elements, is introduced. This strategy is based on the measurement of contact force. This control method is highly efficient in achieving shaft-hole assembly, and it is evident that monitoring contact force is crucial for the successful completion of the insertion assembly process.