文中介绍了物流机械手的设计，此机械手采用电机减速器等实现运动功能，通过PLC控制各个运动部件。

The design of logistic manipulator is introduced. The moving parts of this manipulator was controlled by PLC. The motion function is implemented with motors and speed reducers.

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本文研究了某减速器的振动故障，发现并研究了其中介传动齿轮的耦联共振。

The vibration fault of a reducer is analyzed. A kind of coupled resonance of the intermediate transmission gear is discovered.

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文中介绍了该减速器的工作原理，并进行了受力分析和强度计算，方便推广钢球同轴变速器的应用。

This paper analyze the principle, the bearing and the intensity of this reducer for popularizing it's application.

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