There are situations, in the case of transfer of parts, blanks or pallets from a working place to another one, in the horizontal plan, when is necessary a little displacement on the vertical direction at the beginning and the end of the stroke, to avoid the damage of the manipulator or even the parts. In the paper, the synthesis of the rigid memory of a pick-and-place manipulator of parts or pallets is done, so that to ensure the grippers displacement under the given lows

manipulator; pick-and-place of parts; transmission functions; rigid memory

Presentation: oral