Multi-DOF industrial robot is a six-axis robot,which is composed of men holder by a mechanical gripper,hand spindle,and other mechanical structure hand arm, robotic control gas path and a control circuit, machine control and pneumatic control section includes transmission structure components and drive power section,where you ran the detection section and the like. Programmable PLC program to control the entire robot operational implementation, the power can be used to precisely control the servo motor drive, the turbine to achieve power steering, etc., to the entire robot according to certain set procedures to achieve the operational requirements, and orderly,there are certain range of motion trajectory,a certain running time and speed between the shafts.%多自由度工业机械手是六轴机械手，其组成是由机械手下固定座、手爪、手转轴、手摆臂等机械结构、机械手控制气路以及控制电路部分，机械控制和气路控制部分包含传动结构部分和驱动动力部分、位置运行检测部分等组成。用可编程PLC程序来控制整个机械手的运行实施，动力可用伺服电机精确控制传动、涡轮来实现动力的转向等，达到整台机械手按一定的设定程序来实现动作要求，并且有序，有一定的运动范围轨迹，各轴之间有一定运行时间和速度的过程[1]。
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