Abstract:A manipulator was designed based on a combination of six-bar mechanism, used to automate the process of loading and unloading of CNC machine tools. By using analytical method for the combination of six-bar mechanism manipulator designed in the speed and acceleration analysis, using MATLAB software derived rod speed and acceleration curve, and on the basis of this, a combination of six-bar mechanism was optimized. The results show that the mechanism is simple in structure, and operated stably, which meets the basic requirements of the process of loading and unloading.