本文分析了我国物料装卸和仓储机械化的现状和水平,介绍了在生产实践中有应用价值的六自由度液压装卸机械手的工作原理,总体结构和传动系统设计,机械手的特点和适用领域,给出了机械手的特征方程式,着重讨论了液压系统的可靠性设计六自由度液压机械手在装卸机械上的实际应用,将带来明显的经济效益和社会效益 This paper analyzes the current status and level of material handling and storage mechanization in our country, introduces the working principle, overall structure and design of transmission system, characteristics and applicable fields of six degrees of freedom hydraulic handling manipulator, which have application value in production practice. The characteristic equation of the manipulator is discussed with emphasis on the reliability of the hydraulic system. The practical application of the six-freedom hydraulic manipulator on the handling machine will bring obvious economic and social benefits