Abstract: A method and apparatus for installing a part such as a gear into an assembly such as a gear set with low-stiffness and low inertia comprises an insertion mechanism that is connected to a controller at one end, and that is connected to the part at a second end. In one embodiment, the insertion mechanism at least permits rotational compliance about the z axis with respect to the controller independent of compliance in the x, y, and z axes to permit the part to mesh with the assembly during the installation process. In another embodiment, the insertion mechanism is compliant only along the x, y, and z axes.