Design of Transmission Scheme for a Special Manipulator

A kind of high automatic manipulator is designed, the joints of manipulator are controlled by servo motor. The manipulator is used for manufacturing lower cover of soybean milk machine. The manipulator includes four axis which are the upper and lower axis, the rotary axis, the telescopic axis and the arm rotating axis. The transmission scheme of the manipulator is confirmed. Simulation experiments prove that, the speed of the manipulator satisfies the requirements, and the motion is smooth, whose positioning is accurate and complicated.