diff --git a/CHANGELOG.md b/CHANGELOG.md
index 5aa7a8d..2f30d0c 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,11 @@
 # ChangeLog for pymycobot
 
+## v2.9.7 (2022-11-14)
+
+- release v2.9.7
+- Add MechArm class: Separate mecharm from mycobot
+- Fix known bug
+
 ## v2.9.6 (2022-9-13)
 
 - release v2.9.6
diff --git a/docs/README.md b/docs/README.md
index 6ea573d..cd457dc 100644
--- a/docs/README.md
+++ b/docs/README.md
@@ -10,7 +10,7 @@ We support Python2, Python3.5 or later.
 <!-- vim-markdown-toc GFM -->
 
 - [pymycobot](#pymycobot)
-- [MyCobot / Mypalletizer](#mycobot--mypalletizer)
+- [MyCobot / Mypalletizer / MechArm](#mycobot--mypalletizer--mecharm)
   - [Overall status](#overall-status)
     - [power_on](#power_on)
     - [power_off](#power_off)
@@ -229,7 +229,7 @@ We support Python2, Python3.5 or later.
 <!-- vim-markdown-toc -->
 </details>
 
-# MyCobot / Mypalletizer
+# MyCobot / Mypalletizer / MechArm
 
 **Import to your project**:
 
@@ -239,6 +239,15 @@ from pymycobot import MyCobot
 
 # for mypalletizer
 # from pymycobot import MyPalletizer
+
+# for MechArm
+# from pymycobot import MechArm
+
+mc = MyCobot("com10",115200)
+# mc = MyPalletizer("com10",115200)
+# mc = MechArm("com10",115200)
+
+print(mc.get_angles())
 ```
 
 > Note: If no parameter is given, there is no parameter; if no return value is given, there is no return value
@@ -381,7 +390,7 @@ Set command refresh mode
 
 - **Parameters**:
 
-  - `radians`: a list of radian value(`List[float]`), length 6.
+  - `radians`: a list of radian value(`List[float]`).
   - `speed`: (`int`) 0 ~ 100
 
 - **Example**
@@ -434,7 +443,7 @@ Set command refresh mode
 
 - **Parameters**
 
-  - `coords`: a list of coords value(`List[float]`), length 6.
+  - `coords`: a list of coords value(`List[float]`).
   - `speed`: (`int`) 0 ~ 100
   - `mode`: (`int`): `0` - angular, `1` - linear
 
@@ -457,7 +466,7 @@ Set command refresh mode
 
 - **Parameters**
 
-  - `degrees`: a list of degree value(`List[float]`), length 6.
+  - `degrees`: a list of degree value(`List[float]`).
   - `speed`: (`int`) 0 ~ 100
   - `timeout`: default 7s.
 
@@ -482,7 +491,7 @@ Set command refresh mode
 
 - **Parameters**
 
-  - `data`: A data list, angles or coords, length 6.
+  - `data`: A data list, angles or coords.
   - `flag`: Tag the data type, `0` - angles, `1` - coords.
 
 - **Returns**
@@ -593,7 +602,7 @@ Set command refresh mode
 - **Description**: Set the six joints of the manipulator to execute synchronously to the specified position.
 
 - **Parameters**:
-  - `encoders`: A encoder list, length 6.
+  - `encoders`: A encoder list.
   - `sp`: speed 0 - 100
 
 ### get_encoders
diff --git a/pymycobot/Interface.py b/pymycobot/Interface.py
index 4dd25b1..3ab817e 100644
--- a/pymycobot/Interface.py
+++ b/pymycobot/Interface.py
@@ -742,7 +742,7 @@ def set_gripper_value(self, id, value, speed):
             value (int): 0 ~ 100
             speed (int): 0 - 100
         """
-        return self._mesg(ProtocolCode.SET_GRIPPER_VALUE, id, value)
+        return self._mesg(ProtocolCode.SET_GRIPPER_VALUE, id, value, speed)
 
     def set_gripper_calibration(self, id):
         """Set the current position to zero, set current position value is `2048`.
diff --git a/pymycobot/__init__.py b/pymycobot/__init__.py
index 6fb1a98..2ff67eb 100644
--- a/pymycobot/__init__.py
+++ b/pymycobot/__init__.py
@@ -2,11 +2,13 @@
 
 from __future__ import absolute_import
 import datetime
+import sys
 
 from pymycobot.generate import MyCobotCommandGenerator
 from pymycobot.Interface import MyBuddyCommandGenerator
 from pymycobot.mycobot import MyCobot
 from pymycobot.mybuddy import MyBuddy
+from pymycobot.mecharm import MechArm
 from pymycobot.mypalletizer import MyPalletizer
 from pymycobot.mycobotsocket import MyCobotSocket
 from pymycobot.genre import Angle, Coord
@@ -14,8 +16,8 @@
 from pymycobot.mybuddysocket import MyBuddySocket
 from pymycobot.mira import Mira
 from pymycobot.mybuddybluetooth import MyBuddyBlueTooth
-from pymycobot.mybuddyemoticon import MyBuddyEmoticon
 from pymycobot.mypalletizersocket import MyPalletizerSocket
+    
 
 __all__ = [
     "MyCobot",
@@ -30,11 +32,16 @@
     "MyBuddySocket",
     "MyBuddyBlueTooth",
     "Mira",
-    "MyBuddyEmoticon",
-    "MyPalletizerSocket"
+    "MyPalletizerSocket",
+    "MechArm"
 ]
 
-__version__ = "2.9.7b3"
+
+if sys.platform == "linux":
+    from pymycobot.mybuddyemoticon import MyBuddyEmoticon
+    __all__.append("MyBuddyEmoticon")
+
+__version__ = "2.9.7"
 __author__ = "Elephantrobotics"
 __email__ = "weiquan.xu@elephantrobotics.com"
 __git_url__ = "https://github.com/elephantrobotics/pymycobot"
diff --git a/pymycobot/common.py b/pymycobot/common.py
index d275c6a..eb594f1 100644
--- a/pymycobot/common.py
+++ b/pymycobot/common.py
@@ -383,7 +383,6 @@ def read(self, genre):
         wait_time = 1
     while True and time.time() - t < wait_time:
         data = self._serial_port.read()
-        # print("1:",data)
         k += 1
         if data_len == 1 and data == b"\xfa":
             datas += data
diff --git a/pymycobot/mecharm.py b/pymycobot/mecharm.py
new file mode 100644
index 0000000..a484fa5
--- /dev/null
+++ b/pymycobot/mecharm.py
@@ -0,0 +1,6 @@
+# coding=utf-8
+from pymycobot import MyCobot
+
+class MechArm(MyCobot):
+    def __init__(self, port, baudrate="115200", timeout=0.1, debug=False):
+        super().__init__(port, baudrate, timeout, debug)
\ No newline at end of file
diff --git a/pymycobot/mira.py b/pymycobot/mira.py
index 3951eb4..27eec87 100644
--- a/pymycobot/mira.py
+++ b/pymycobot/mira.py
@@ -1,7 +1,5 @@
 # coding: utf-8
-from ctypes.wintypes import SIZE
 import time
-from tkinter import E
 from pymycobot.common import ProtocolCode
 import math