The work aims to reduce the occurrence of production accidents on mango packaging line and solve the problem of carrying capacity of parallel sorting manipulator. The parallel mechanism of mango sorting machine and the structure design of large and small arms were under in-depth discussion. Through SolidWorks simulation finite element analysis, the stress state of each key component was analyzed, and the safety factor diagram was defined to evaluate whether the structure design was reasonable. The maximum stress of the large arm was 8.056 MPa and its allowable stress was 75.829 MPa. The maximum stress of the forearm was 31.659 MPa and its allowable stress was 50 MPa. The safety factor diagram showed that both large and small arms were blue (the blue color indicated it was in the safe area). The stress of the component is much less than the allowable stress, and the component is in a safe area, which shows that the structure of designed mango sorting manipulator is feasible.