diff --git a/src/main/java/com/iflytop/gd/infrastructure/drivers/PacketFactory.java b/src/main/java/com/iflytop/gd/infrastructure/drivers/PacketFactory.java
new file mode 100644
index 0000000..a7374ed
--- /dev/null
+++ b/src/main/java/com/iflytop/gd/infrastructure/drivers/PacketFactory.java
@@ -0,0 +1,6 @@
+package com.iflytop.gd.infrastructure.drivers;
+
+public class PacketFactory {
+
+
+}
diff --git a/src/main/java/com/iflytop/gd/system/constants/DistanceUnit.java b/src/main/java/com/iflytop/gd/system/constants/DistanceUnit.java
new file mode 100644
index 0000000..0e74158
--- /dev/null
+++ b/src/main/java/com/iflytop/gd/system/constants/DistanceUnit.java
@@ -0,0 +1,5 @@
+package com.iflytop.gd.system.constants;
+
+public enum DistanceUnit {
+    MM, CM
+}
diff --git a/src/main/java/com/iflytop/gd/system/constants/SpeedUnit.java b/src/main/java/com/iflytop/gd/system/constants/SpeedUnit.java
new file mode 100644
index 0000000..72a5865
--- /dev/null
+++ b/src/main/java/com/iflytop/gd/system/constants/SpeedUnit.java
@@ -0,0 +1,8 @@
+package com.iflytop.gd.system.constants;
+
+/**
+ * 移动速度单位
+ */
+public enum SpeedUnit {
+    MM_PER_SEC, CM_PER_SEC
+}
diff --git a/src/main/java/com/iflytop/gd/system/devices/HoldingJaw.java b/src/main/java/com/iflytop/gd/system/devices/HoldingJaw.java
new file mode 100644
index 0000000..ef7380a
--- /dev/null
+++ b/src/main/java/com/iflytop/gd/system/devices/HoldingJaw.java
@@ -0,0 +1,36 @@
+package com.iflytop.gd.system.devices;
+
+
+/**
+ * 夹爪
+ */
+public interface HoldingJaw {
+
+    /**
+     * 打开夹爪
+     */
+    void open();
+
+    /**
+     * 关闭夹爪
+     */
+    void close();
+
+    /**
+     * 暂停
+     */
+    void pause();
+
+
+    /**
+     * 恢复
+     */
+    void resume();
+
+
+    /**
+     *
+     * @param speed
+     */
+    void setSpeed(int speed);
+}
diff --git a/src/main/java/com/iflytop/gd/system/devices/Pump.java b/src/main/java/com/iflytop/gd/system/devices/Pump.java
index c0157fc..024472c 100644
--- a/src/main/java/com/iflytop/gd/system/devices/Pump.java
+++ b/src/main/java/com/iflytop/gd/system/devices/Pump.java
@@ -4,4 +4,5 @@ package com.iflytop.gd.system.devices;
  * 泵
  */
 public interface Pump {
+
 }
diff --git a/src/main/java/com/iflytop/gd/system/devices/StepMotor.java b/src/main/java/com/iflytop/gd/system/devices/StepMotor.java
deleted file mode 100644
index e53b1fb..0000000
--- a/src/main/java/com/iflytop/gd/system/devices/StepMotor.java
+++ /dev/null
@@ -1,7 +0,0 @@
-package com.iflytop.gd.system.devices;
-
-/**
- * 步进电机
- */
-public interface StepMotor {
-}
diff --git a/src/main/java/com/iflytop/gd/system/devices/package-info.java b/src/main/java/com/iflytop/gd/system/devices/package-info.java
deleted file mode 100644
index bf12794..0000000
--- a/src/main/java/com/iflytop/gd/system/devices/package-info.java
+++ /dev/null
@@ -1 +0,0 @@
-package com.iflytop.gd.system.devices;
\ No newline at end of file
diff --git a/src/main/java/com/iflytop/gd/system/devices/Fan.java b/src/main/java/com/iflytop/gd/system/drivers/Fan.java
similarity index 53%
rename from src/main/java/com/iflytop/gd/system/devices/Fan.java
rename to src/main/java/com/iflytop/gd/system/drivers/Fan.java
index b3410fb..8159538 100644
--- a/src/main/java/com/iflytop/gd/system/devices/Fan.java
+++ b/src/main/java/com/iflytop/gd/system/drivers/Fan.java
@@ -1,4 +1,4 @@
-package com.iflytop.gd.system.devices;
+package com.iflytop.gd.system.drivers;
 
 /**
  * 风扇
diff --git a/src/main/java/com/iflytop/gd/system/devices/Heater.java b/src/main/java/com/iflytop/gd/system/drivers/Heater.java
similarity index 56%
rename from src/main/java/com/iflytop/gd/system/devices/Heater.java
rename to src/main/java/com/iflytop/gd/system/drivers/Heater.java
index 31e9ee5..1902008 100644
--- a/src/main/java/com/iflytop/gd/system/devices/Heater.java
+++ b/src/main/java/com/iflytop/gd/system/drivers/Heater.java
@@ -1,4 +1,4 @@
-package com.iflytop.gd.system.devices;
+package com.iflytop.gd.system.drivers;
 
 /**
  * 加热器
diff --git a/src/main/java/com/iflytop/gd/system/devices/Relay.java b/src/main/java/com/iflytop/gd/system/drivers/Relay.java
similarity index 55%
rename from src/main/java/com/iflytop/gd/system/devices/Relay.java
rename to src/main/java/com/iflytop/gd/system/drivers/Relay.java
index 0c6d88f..a9b1456 100644
--- a/src/main/java/com/iflytop/gd/system/devices/Relay.java
+++ b/src/main/java/com/iflytop/gd/system/drivers/Relay.java
@@ -1,4 +1,4 @@
-package com.iflytop.gd.system.devices;
+package com.iflytop.gd.system.drivers;
 
 /**
  * 继电器
diff --git a/src/main/java/com/iflytop/gd/system/devices/ServoMotor.java b/src/main/java/com/iflytop/gd/system/drivers/ServoMotor.java
similarity index 59%
rename from src/main/java/com/iflytop/gd/system/devices/ServoMotor.java
rename to src/main/java/com/iflytop/gd/system/drivers/ServoMotor.java
index 4eb075f..e0a00a9 100644
--- a/src/main/java/com/iflytop/gd/system/devices/ServoMotor.java
+++ b/src/main/java/com/iflytop/gd/system/drivers/ServoMotor.java
@@ -1,4 +1,4 @@
-package com.iflytop.gd.system.devices;
+package com.iflytop.gd.system.drivers;
 
 
 /**
diff --git a/src/main/java/com/iflytop/gd/system/drivers/StepMotor.java b/src/main/java/com/iflytop/gd/system/drivers/StepMotor.java
new file mode 100644
index 0000000..e187c08
--- /dev/null
+++ b/src/main/java/com/iflytop/gd/system/drivers/StepMotor.java
@@ -0,0 +1,34 @@
+package com.iflytop.gd.system.drivers;
+
+import com.iflytop.gd.system.constants.DistanceUnit;
+import com.iflytop.gd.system.constants.SpeedUnit;
+
+/**
+ * 步进电机
+ */
+public interface StepMotor {
+
+    /**
+     * 移动指定距离
+     * @param value
+     * @param unit
+     */
+    void move(Integer value, DistanceUnit unit);
+
+    /**
+     * 停止移动
+     */
+    void stop();
+
+    /**
+     * 设置移动速度
+     * @param value
+     * @param unit
+     */
+    void setSpeed(Integer value, SpeedUnit unit);
+
+    /**
+     * 复位电机
+     */
+    void reset();
+}
diff --git a/src/main/java/com/iflytop/gd/system/models/LiquidFillingArm.java b/src/main/java/com/iflytop/gd/system/models/LiquidFillingArm.java
new file mode 100644
index 0000000..57a00d4
--- /dev/null
+++ b/src/main/java/com/iflytop/gd/system/models/LiquidFillingArm.java
@@ -0,0 +1,9 @@
+package com.iflytop.gd.system.models;
+
+
+/**
+ * 液体加注机械臂
+ */
+public interface LiquidFillingArm {
+
+}
diff --git a/src/main/java/com/iflytop/gd/system/models/TubeTransportationArm.java b/src/main/java/com/iflytop/gd/system/models/TubeTransportationArm.java
new file mode 100644
index 0000000..a1190d6
--- /dev/null
+++ b/src/main/java/com/iflytop/gd/system/models/TubeTransportationArm.java
@@ -0,0 +1,9 @@
+package com.iflytop.gd.system.models;
+
+/**
+ * 试管转移机械臂
+ */
+public interface TubeTransportationArm {
+
+
+}