近年來，機械手臂在產業自動化的應用已經相當廣泛，因為各種產業分布的不同，以及各產業對於機械手臂的需求也有差異，已往機械手臂比較常應用在工業領域上，以取代人力來做一些高危險性或者是會消耗較多時間的工作，而現在機械手臂的應用已經不再侷限於工業領域，將其應用在現實生活中的例子也越來越多，比較有名的創新應用有機械手臂自動泡咖啡，並且也有公開在國際展會上做發表。 也因為如此，我們想到了一個繼自動泡咖啡後的接續應用「咖啡拉花」，我們提出了手臂拉花這個創新應用，並且將它給實作出來，而在本論中我們實作了很多方法來實現這個目的，其中包括硬體設計、逆向運動學、奇異點避免、碰撞偵測，且因為我們的實驗環境是在實際的餐飲營用場所中，所以其他像是實驗環境保護等等因素我們在實作中也皆有考量進去，讓我們這個創新想法應用在現實生活中的可能性大大增加。 In recent years. The application of robotic arms in industrial automation has been quite extensive. Because of the different distribution of various industries. There is also a difference in the demand for robotic arms in various industries.In the past, mechanical arms were often used in industrial fields. To replace the manpower to do some high-risk or work that will consume more time. The application of the robot arm is no longer limited to the industrial field. There are more and more examples of applying it to real life.Some of the more famous innovations are robotic automatic coffee brewing and also publicly published at international exhibitions. We thought of a continuation application "coffee pull" after automatic coffee brewing. We proposed the innovative application of arm pull and made it happen. In this theory, we have done a lot of ways to achieve this goal. These include hardware design, inverse kinematics, singular point avoidance, collision detection. Because our experimental environment is in the actual food and beverage camp. Therefore, other factors such as experimental environmental protection and other factors are also considered in the implementation. The possibilities for applying this innovative idea to real life have greatly increased.