To address the challenges of visual occlusion and pinhole jamming in the automatic assembly of aerospace electrical connectors， an automatic assembly technique based on contact force feedback from the socket’s outer contour is proposed for circular connector applications. By analyzing the contact forces during clamping， a three-stage assembly strategy， i.e.， Comprising centering， posture alignment， and rotational insertion is constructed. First， the center of the socket contour is located by identifying the contact quadrant between the clamping jaws and the socket. Second， the initial posture deviation is estimated by analyzing the change in contact force before and after the end-effector’s axial movement， and a torque-guided strategy is employed to achieve adaptive posture correction. Finally， a rotational search algorithm is adopted to complete the connector insertion. Extensive experiments under various initial posture deviations demonstrate the effectiveness of the proposed method.