Abstract:Aiming at the problems caused by the excessive dependence of human resources on the printed circuit board(PCB) computer numbercial control (CNC) drilling machine, the use of automatic feeding and unloading material manipulator instead of manual labor is put forward. According to the demand of the feeding and unloading material manipulator, the overall design of the automatic feeding and unloading manipulator was carried out, and the layout of the manipulator installation was analyzed. The model of manipulator was established by using SolidWorks. Using the D-H parameter method to establish the kinematics equation of the manipulator,the position and posture of the robot's tail in the global coordinate system were solved. And then through the ADAMS to the manipulator motion simulation, the trajectory information, the displacement information, the velocity and the acceleration information of the manipulator were obtained and analyzed. The correctness and rationality of the design are verified, it provides the basis for the actual motion optimization and motion control of the manipulator.