中文摘要：

提出一种具有三自由度、刚性好、耐高温且安全可靠的用于换模机械手的高温换模夹持装置的设计方案。详述了高温换模夹持装置组成与功能，重点阐述了高温换模夹持装置的夹持机构、伸缩机构和升降机构的设计原理。利用DELMIA软件对设计方案进行运动学仿真，仿真结果表明，该夹持装置可以沿X、Y、Z三个坐标方向运动，实现对高温模具进行夹持、升降和伸缩，能够满足使用需求。

英文摘要：

A design scheme of holding device for die-changing manipulator was presented with the feature such as three degrees- of-freedom, good rigidity, high temperature resistant, safe and reliable. The description on the composition and function of holding device is showed in details, and design principle for holding mechanism,telescopic mechanism,lifting mechanism were particularly described. Finally ,the kinematies simulation for the design scheme was carried out through DELMIA. Simulation results show that the holding device can perform clamping,lifting, telescopic for die in X, Y, Z three coordinate direction, and can meet using requirement.