This paper presented a solution of 4 degrees of freedom robot arm which is used in materials handling system, and detailedly discussed about the working principle and design of the robot arm.

提出一种用于物流系统的四自由度机械臂解决方案，并对该机械臂的工作原理和具体设计进行了详细讨论。

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Then, some micro-handling experiments such as micro parts gripping, transportion and assembly are done to vertify the validity of miniature robot based automatic micro-handling system.

然后以视觉引导微小型机器人完成微小零件的夹取、搬运和视觉、微力觉引导机器人完成微小零件的组装等典型微操作任务为背景展开实验研究。

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