ABSTRACT
Small Casting Manipulator widely used in industrial production,which can solve the problems of high intensity labor and low efficiency in the work. The design of the actual production of small and medium casting process on the background material and the emphasis are clamp device of wrist of the manipulator and its path, which can guarantee transporting loading and unloading accurate exact.
The entire equipment's movement may divide into next several parts: the waist's gyroscopic movement、the latter arm's pitching movement、the forearm's pitching movement、rotation and pitching movement of the wrist. Hand's clamp selects the method which the barometric pressure cylinder actuates, and other movements use the way of the motor-driven.
Completes specifically the work as follows: ① waist system's theoretical analysis, design calculation and blueprint plan; ② arm's design and blueprint plan；③ the design calculation of wrist and gripping device and blueprint plan.
Manipulator's application can raise the working efficiency, reduces the working strength, and has the very great use value.
Key words： Manipulator; Small castings; Five degrees-of-freedom; Feeding equipment
