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1、RobotRobotisatypeofmechantronicsequipmentwhichsynthesizesthelastresearchachievementofengineandprecisionengine,micro-electronicsandcomputer,automationcontrolanddrive,sensorandmessagedisposeandartificialintelligenceandsoon.Withthedevelopmentofeconomicandthedemandforautomati
2、oncontrol,robottechnologyisdevelopedquicklyandalltypesoftherobotsproductsarecomeintobeing.Thepracticalityuseofrobotproductsnotonlysolvestheproblemswhicharedifficulttooperateforhumanbeing,butalsoadvancestheindustrialautomationprogram.Atpresent,theresearchanddevelopmentofro
3、botinvolvesseveralkindsoftechnologyandtherobotsystemconfigurationissocomplexthatthecostatlargeishighwhichtoacertainextentlimittherobotabroaduse.Todevelopmenteconomicpracticalityandhighreliabilityrobotsystemwillbevaluetorobotsocialapplicationandeconomydevelopment-Withthera
4、pidprogresswiththecontroleconomyandexpandingofthemoderncities,theletofsewageisincreasingquickly:Withthedevelopmentofmoderntechnologyandtheenhancementofconsciousnessaboutenvironmentreserve,moreandmorepeoplerealizedtheimportanceandurgentofsewagedisposal.Activebacteriamethod
5、isaneffectivetechniqueforsewagedisposal,Thelacunarisplasticisaneffectivebasementforactivebacteriaadhesionforsewagedisposal.Theabundancerequirementforlacunarisplasticmakesitisaconsequentfortheplasticproducingwithautomationandhighproductivity.Therefore,itisverynecessarytode
6、signamanipulatorthatcanautomaticallyfulfilltheplasticholding.Withtheanalysisoftheproblemsinthedesignoftheplasticholdingmanipulatorandsynthesizingtherobotresearchanddevelopmentconditioninrecentyears,aeconomicschemeisconcludedonthebasisoftheanalysisofmechanicalconfiguration
7、,transformsystem,drivedeviceandcontrolsystemandguidedbytheideaofthecharacteristicandcomplexofmechanicalconfiguration,electronic,softwareandhardware.Inthisarticle,themechanicalconfigurationcombinesthecharacterofdirectioncoordinateandthearthrosiscoordinatewhichcanimprovethe
8、stabilityandoperationflexibilityofthesystem.Themainfunctionofthetransmissionmechanismistotransmi
