In view of the need to cut bamboo in the manufacture of bamboo wood-based panel for packaging, the work aims to design a bamboo cutting manipulator driven by brushless motor and a balance mechanism of reciprocating to balance the reciprocating inertia force. The strength of the core mechanism parts and inner shell of the reciprocating saw were checked to ensure that the weak links of the parts meet the strength requirements. The reciprocating saw mechanism and its balance mechanism were established in Solidworks, and the balance effect of the balance mechanism was verified through Adams simulation. In Ansys software, finite element analysis was performed on the core parts of the reciprocating saw and its balance mechanism, and the maximum principal stress was obtained for strength check. Finally, the main material cutting manipulator was designed and completed. Adams simulation showed that the maximum remaining reciprocating inertial force of the reciprocating saw was 7.564 2 N, and the balance ratio was 96.65%. Ansys finite element analysis showed that the maximum value of the maximum principal stress of each part was 70.645 MPa, which was far less than 210 MPa, the allowable stress value of Q235. The reciprocating saw in the bamboo cutting robot arm designed in this article has a small residual reciprocating inertia force after being balanced by the balance mechanism. Its core mechanism parts and inner housing meet the strength requirements, and the design of main material cutting manipulator meets the requirements.