The work aims to study the dynamic characteristics of the manipulator on the automatic packaging line, and research the combination of different working conditions and different parameters of the manipulator. The three-dimensional structural modeling of manipulator was conducted by UG software. The rigid-flexible coupling dynamic simulation analysis was carried out with ADAMS and Ansys software to obtain the stress curve and law of the boom under different working conditions. The simulation results showed that, under the combination of different parameters, the maximum stress of the boom of the manipulator was 241.49 MPa, the force and torque fluctuation at the hinge was small, and the strength satisfied the usage requirement. The co-simulation of ADAMS and Ansys can effectively predict the motion law and stress distribution of the manipulator.