In order to achieve automatic feeding required by a multi-stage transfer die, a servo feeding manipulator was developed. A planar transfer feed motion was used to improve transfer efficiency, a servo drive system was applied to transfer the workpiece transversely to improve the positioning accuracy,and two three-axis cylinders and two polyurethane limiters were adopted to realize positioning at three height. The hardware and software of the PLC control system were designed as well. The application shows that when the transfer frequency reaches 15 times per minute, the positioning accuracy is ±0.2 mm, and the manipulator can run stably with the press.