各部件采用同步带传动，打孔距离及收卷松紧度可调。

Each part adopt synchronous belt for transmission, the perforation distance and the looseness and tightness of furling roll can be adjustable.

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所有动力均采用同步带传动，结构简单，噪音低，运行平稳，振动小。

All synchronism belts driving are structure simple, noise lower, running steady and vibrate lower.

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通过分析现有机器人的结构，机械臂驱动采用交流伺服电机驱动谐波齿轮传动方式实现，腕部结构则采用同步带传动结构方式。

AC servo motor with harmonic drive is used to drive the robot manipulators and the synchro-belt drive is used to drive the wrist after the present robot is analyzed.

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