A method utilizes a funnel system (170) and robotic end effector grippers (112, 114) to feed an unjacketed portion (10a) of a shielded cable (10) through a sleeve (12). The funnel is designed with one or more thin extensions (172a-c) (hereinafter "prongs") on which a sleeve is placed prior to a cable entering the funnel. Preferably two or more prongs are employed, although a single prong may be used if properly configured to both guide a cable and fit between the sleeve and cable. The prongs close off the uneven surface internal to a sleeve and provide a smooth surface for the cable to slide along and through the sleeve, preventing any damage to the exposed shielding. The sleeve is picked up and held on the prongs using a robotic end effector (108). If the sleeve is a solder sleeve, the robotic end effector has grippers designed to make contact with the portions of the solder sleeve that are between the insulating rings (13a, 13b) and the central solder ring (9).