Industrial robots are the basic equipment that supports the construction of intelligent manufacturing technology systems. According to statistics, in 2016, the number of industrial machines owned per 10,000 workers in my country's manufacturing industry was 68, which was about 1/5 of that of Germany and Japan. In addition, the application of industrial robots in my country is concentrated in the fields of automobile manufacturing and metal parts processing, and the application proportion in chemical, food and other industries is extremely low. To this end, the "Robot Industry Development Plan 2016-2020" clearly states that: ldquo; Implement a number of typical industry application demonstration projects, focusing on industrial fields (chemical, food, etc.) with large demand and high environmental requirements rdquo; Overcome key technologies of industrial robots and guide the development of my country's industrial robots to the middle and high-end rdquo;. Focusing on the development of my country's robot industry and the intelligent manufacturing technology needs of key industries, the project carries out the research and development of robot precision operation technology and collaborative industrial robots for flexible workpieces. In conjunction with this goal, the research will be extended upstream to key basic components of robots. In the research and development of precision harmonic reducers, collaborative robots and new generation robot operating systems, a number of key technologies have been broken through, and the following innovative results have been achieved. Innovation point 1: Precision harmonic reducer mdash; mdash; proposed a non-conjugate harmonic meshing tooth profile design method, and pioneered ldquo; P-type teeth rdquo; and a new structure of harmonic reducer with independent intellectual property rights. Special anti-wear materials, lubrication technology, material treatment and tooth profile modification technology for harmonic reducers have been developed. Test specifications for reducer performance parameters and precision life accelerated test methods have been established, and a series of test equipment has been developed. The developed precision harmonic reducer has a transmission error le;30 arcseconds, a noise le;60dB, an accuracy life gt;10000 hours, and its performance indicators have reached the world's advanced level. Innovation point 2: Collaborative industrial robot mdash; mdash; has developed integrated design and manufacturing technology for robot drive/transmission/sensing/control systems and modular robot joints, based on which a series of collaborative robot products have been developed. A joint variable impedance control method is proposed, which improves the working bandwidth of the robot and its adaptability to working tasks. A dual-mode teaching system has been developed to realize the teaching of end-trajectory ldquo; near-zero force rdquo; drag, end-force and trajectory/force synchronization. The Mobile device can be used to edit robot tasks, greatly improving the convenience of programming complex tasks. Innovation point 3: Precision operation technology for flexible workpieces mdash; mdash; proposes a precise operation method for flexible workpiece robots based on the principle of multi-point constraints, invents a series of end effectors and operating mechanisms, and solves the problems of pre-forming and shaping, positioning and conformal clamping and dynamic shape/position operation of workpieces, breaking through the ldquo; real-time rdquo; functional configuration technology and active safety protection technology of robot operating systems. The robot operation equipment developed has been successfully applied in many large domestic enterprises, realizing fully automatic robot operations such as lithium battery assembly, chemical fiber product manufacturing, and high-speed dairy packaging. The annual sales volume of the harmonic reducer developed exceeds 100,000 units, and more than 20,000 units are exported to European and American companies. It has won the ldquo; Golden Globe Award in the advanced robot parts category for five consecutive years, making contributions to the strong foundation project of the robot industry. Collaborative robots are promoted and applied in chemical fiber, food, electronics manufacturing and other industries, and are exported to internationally renowned companies such as STMicroelectronics. Jieka Zu Robot won the ldquo; Golden Globe Award in the Advanced Engineering Robot Collaborative Robot Category rdquo;. The operating system developed has been used for its first time in chemical fiber, food, lithium battery manufacturing and other industries many times, and has played a demonstration role in continuously expanding the application fields of industrial robots. The project results have been authorized by 32 national invention patents, 62 utility model patents, 9 software copyrights, and 3 national standards. The harmonic reducer, collaborative robot and robot automatic operation system developed has direct sales revenue of 828 million yuan and profits of 215 million yuan in the past three years.