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By analyzing the working environment and mode of manipulator, the structure of manipulator was designed, which has four shafts, the upper and lower shaft, the shaft of rotation, the telescopic shaft, and the rotation shaft. The main structure of manipulator was divided into three parts, which are base part, the four shaft part, and the hand part. A vacuum sucker is mounted on the gripper to absorb the workpiece. Experiments showed that the velocity of manipulator are fast, stable without trembling.

Design of gripper for special manipulator of milk machine