分析了轴盖的冲压工艺性，对传统工艺进行了改进，介绍了其复合模和修边模结构及设计要点。
The work process of the trimming die for vertically forming the thin-wall barrels of the shell top part of hot-water shower device was introduced.
提出了一种四轴运动复合驱动机构，与传统的机器人手臂结构相比，刚性好、精度高。
An new type of 4 axis combined driving mechanism for robot arms is presented in this paper. Analytical results show that the mechanism is characterized by high stiffness and good kinematic accuracy.
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