Abstract: In order to solve the problems of high labor intensity and low work efficiency in manual handling of workpieces on the production line, a four degree of freedom experimental teaching manipulator platform for workpiece handling is designed, and the structure design and simulation analysis of the manipulator platform are realized. The structure of the manipulator is designed, the three-dimensional models of each parts are established by using SolidWorks software, and the manipulator platform is assembled. The kinematics and dynamics of the virtual prototype of the manipulator are simulated by using ADAMS software to verify the operation stability of the manipulator and complete the selection of the motor and reducer. Using ANSYS software to carry out finite element analysis of the manipulator, check the strength and stiffness of the key part—the boom, and get the vibration mode and frequency of the base. The research provides a theoretical and methodological basis for the design and manufacture of the four degree of freedom manipulator for workpiece handling and this kind of experimental manipulator platform.