The work aims to study the kinematics and trajectory planning of packaging manipulator to achieve smooth operation and accurate control. With 6-DOF packaging manipulator model as research object, the coordinate system was established by the modified D-H parameter method, and the kinematics equation was deduced. Based on MATLAB, the manipulator model was built and direct and inverse kinematics simulation was carried out to verify the correctness of the model. Secondly, a quintic polynomial interpolation algorithm was used to plan the trajectory of joint space. In the end, the trajectory planning and simulation was carried out for the fixed-point grabbing and carrying tasks of the products to be packed in the packaging operation. The model of the manipulator was correct, and the trajectory optimization effect of the quintic polynomial interpolation method was good, which could ensure smooth and continuous angle, velocity and acceleration curves of each joint. The joint parameters in grabbing tasks were calculated and the trajectory curve of the end-effector was obtained. The manipulator can complete grabbing and carrying tasks with expected precision, which lays a foundation for further research on the motion control and practical application of the manipulator.