Using a portable manipulator to take out the recovery crucible from the rare earth redox bath, its reliability is one of the bottlenecks restricting production automation. According to the production process of praseodymium and neodymium alloy, determine the mechanism design, and analyze the force to determine the motor selection. The manipulator model is established in the SolidWorks environment, the communication interface is compatible, and the adams software is imported to conduct dynamic simulation analysis of the manipulator mechanism. The manipulator opens and closes smoothly, and the output clamping force meets the theoretical value requirements. The motor is selected to meet the requirements of use.