Applying structural theories of series connected robot, the joint coordinate series connected robots were finally determined as the design scheme. The basic structural parameters of stowage equipment of cotton bundle were determined on the result from workspace of clamp compared with the room which the stowage was occupied. The controlling arithmetic of stowage equipment of cotton bundle was inferred and educed, which had built the foundation of automatization of system.

The involute cam–baffle is one of the most important precision components in generating motion types of the gear grinder (such as Y7125). In order to meet the requirement of grinding ultra precision master gear, the high-grade involute master measuring apparatus is designed. The apparatus meets the continuous scanning measurement principle and the forming principle of the involute. According to evaluate the uncertainty components, the measurement uncertainty of the involute master measuring apparatus is 0.45 m. Finally a measuring experiment for an involute cam is conduced, the measuring results show that the total profile deviation is not more than 0.6 m and the profile form deviation is not more than 0.4 m. The experimental results show that apparatus has the capability of measuring high-grade involute master and high precision of involute cam.

The ultra-precision master gears have important application in calibrating high precision gear measuring instruments or coordinate measuring machines and in military industry. Firstly based error interference of the angle-transferring curve, the periodical translocation technique (PTT) of gear-grinding to improve the indexing accuracy of ultra-precision gears is proposed. The conclusions are drawn by precision experiment: (1) controlling 2/3~3/4 of total teeth participating in regrinding process can obtain the smaller total cumulative pitch deviation; (2) with increasing of the number of teeth participating in regrinding processes, the effects on single pitch deviation is more obvious. Finally, the total pitch deviation Fp of the specimen reaches to 0.79 μm (2.7′′), and the single pitch deviation fp reaches to 0.30 μm (1.0′′) by adopting PTT technique and both of them reaches to submicron level.The precision gear-grinding experiments show the efficiency and practicability of the PTT technique.

For the purpose of machining ultra-precision gear, its pitch accuracy reached grade 1, instead of traditional index plate used the end-tooth plate to reform the machine dividing system of Y7125 grinder so that its dividing precision will be improved (within3). The dividing accuracy of the modified machine tool is mainly decided by the dividing accuracy of the end-tooth plate under the state of freedom. It requires the dividing accuracy of end-tooth plate itself as a reference to calibrate the dividing accuracy of Y7125 grinder. Therefore, in the paper, a set of experiment equipments are designed to measure the dividing precision of the end-tooth plate under the state of freedom and parallel experiments are carried out. From researches, it is discovered that the maximum dividing error of this plate is 0.46 and the measurement uncertainty in experiment is ±0.03. This indicates that it meets the processing requirement of the ultra precision gear and the modification turns out to be true