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customer requirements：
*load/unload hubs. the robot grabs the outer pointed by the yellow arrow in the following figure. three-jaw chuck end closes the small convex platform. use the turning machine to completely machine the hub's inner hole, end and outer, taking 3 minutes and 45 seconds;
* use the milling machine to machine thread, each big hole of the big end, using 7 minutes
application effect：
*the machined parts are the automobile hubs, using a center propulsive structure guarantee the parts' positioning accuracy on the turning machine's chuck;
*linear guide increases the robot's motion stroke, and simultaneously the robot loads/unloads for several machines;
*the vision positioning system resolves workpieces which are disorderly placed, grabbed on the convey belt.