Crimping process - the principle is similar to the knurling process, which is to roll the edge of the paper cup into a certain shape. Therefore, the required motion law is also a reciprocating motion in the vertical motion direction (from the paper cup to the bottom of the cup).
Cup withdrawing process - the paper cup is withdrawn from each process in a certain direction by the actuator, so a vertical reciprocating motion (from the paper cup to the bottom of the cup) is required to give the paper cup an axial force to withdraw the paper cup.