Eccentric swing gripper mechanism model was established in Pro / E environment. Parametric design and motion analysis of the mechanism was carried out. Matlab was used to write parameterized interface. a convenient window was established to get the analysis curves of velocity and acceleration by changing the rod length and printing speed. Pro / MECHANICA module was used to establish kinetic analysis system on each rod of the gripper mechanism which meets the design requirements. Analysis and optimization of the rod structure was carried out to improve gripper mechanism design.