The work aims to realize the automatic handling operation of packaging production line, comprehensively and systematically understand the dynamic characteristics of loading and unloading manipulator for wood-based panel, and explore the driving force and variation law of each joint of the manipulator. A three-dimensional structure model for loading and unloading of wood-based panel was established. The motion process of the manipulator in one cycle was formulated. The manipulator was modeled by Lagrange equation method, the dynamic characteristics of the manipulator were simulated by system dynamics simulation software (Adams), and the accuracy of the dynamic model was verified. The change curves of (angular) velocity, (angular) acceleration, force and torque of each joint of the manipulator were obtained. The change of (angular) velocity was gentle without sudden change, and the curve of (angular) acceleration, force and torque changed sharply in 6 s-9 s. The simulation curve basically fitted the dynamic model data. The dynamic model is established correctly, and the subsequent driving or structural optimization should be used to make the whole movement process more stable.