【正文】 with the development of modern technology and the enhancement of consciousness about environment reserve, more and more people realized the importance and urgent of sewage bacteria method is an effective technique for sewage abundance requirement for lacunaris plastic makes it is a consequent for plastic producing with automation and high , it is very necessary to design a manipulator that can automatically fulfill the plastic the analysis of the problems in the design of the plasticholding manipulator and synthesizing the robot research and development condition in recent years, a economic scheme is concluded on the basis of the analysis of mechanical configuration, transform system, drive device and control system and guided by the idea of the characteristic and plex of mechanical configuration, electronic, software and this article, the mechanical configuration bines the character of direction coordinate which can improve the stability and operation flexibility of the main function of the transmission mechanism is to transmit power to implement department and plete the necessary this transmission structure, the screw transmission mechanism transmits the rotary motion into linear gear can give vary transmission of the transmission mechanisms have a characteristic of pact design of drive system often is limited by the environment condition and the factor of cost and technical step motor can receive digital signal directly and has the ability to response outer environment immediately and has no accumulation error, which often is used in driving this driving system, openloop control system is posed of stepping motor, which can satisfy the demand not only for control precision but also for the target of economic and this basis, the analysis of stepping motor in power calculating and style selecting is also analysis of kinematics and dynamics for object holding manipulator is given in pleting the design of mechanical structure and drive industrial approaches to robot arm control treat each joint of the robot arm as a simple joint servomechanism approach models the varying dynamics of a manipulator inadequately because it neglects the motion and configuration of the whole arm changes in the parameters of the controlled system sometimes are significant enough to render conventional feedback control strategies result is reduced servo response speed and damping, limiting the precision and speed of the endeffecter and making it appropriate only for limitedprecision controlled in this manner move at slow speeds with unnecessary significant performance gain in this and other areas of robot arm control require the consideration of more efficient dynamic models, sophisticated control approaches, and the use of dedicated puter architectures and parallel processing the industrial production and other fields, people often endangered by such factors as high temperature, corrode, poisonous gas and so forth at work, which have increased labor intensity and even jeopardized the life corresponding problems are solved since the robot arm es arms can catch, put and carry objects, and its movements are flexible and applies to medium and smallscale automated production in which production varieties can be it is widely used on soft automatic robot arms are generally made by withstand high temperatures, resist corrosion of materials to adapt to the harsh they reduced the labor intensity of the workers significantly and raised work robot arm is an important ponent of industrial robot, and it can be called industrial robots on many robot is set machinery, electronics, control, puters, sensors, artificial intelligence and other advanced technologies in the integration of multidisciplinary important modern manufacturing using industrial robots, not only can improve product quality and production, but also is of great significance for physical security protection, improvement of the environment for labor, reducing labor intensity, improvement of labor productivity, raw material consumption savings and lowering production are such mechanical ponents as ball footbridge, slides, air control mechanical hand and so on in the programmable controller, a programming device, stepping motors, stepping motors drives, direct current motors, sensors, switch power supply, an electromagnetism valve and control desk are used in electrical is the automated production of a kind used in the process of crawling and moving piece features automatic device, which is mechanized and automated production process developed a new type of recent years, as electronic technology, especially puter extensive use of robot development and production of hightech fields has bee a rapidly developed a new technology, which further promoted the development of robot, allowing robot to better achieved with the bination of mechanization and can replace humans pleted the risk of duplication of boring work, to reduce human labor intensity and improve labor has been applied more and more widely, in the machinery industry, it can be used for parts assembly, work piece handling, loading and unloading, particularly in the automation of CNC machine tools, modular machine tools more monly present, the robot has developed into a FMS flexible manufacturing systems and flexible manufacturing cell in an important ponent of the machine tool equipment and machinery in hand together constitute a flexible manufacturing system or a flexible manufacturing cell, it was adapted to small and medium volume production, you can save a huge amount of the work piece conveyor device, pact, and the work piece changes, flexible production system is very easy to change will help enterprises to continuously update the marketable variety, improve product quality, and better adapt to market present, China39。39。t understand or not use about the latest application materials to the best information,(b)failed to foresee and consider the reasonable use mat