According to the Lagrange equation, the dynamics equation of filling manipulator was established. Then each joint's torque curve was obtained by MATLAB/ Simulink. The analysis results showed that the drive devices meet the requirements. Three-dimensional model of the filling manipulator was established by 3D software, and then dynamics simulation analysis was implemented in the ADAMS. Comparing the two kinds of results, it is concluded that the results of theoretical analysis was correct and reliable. The purpose was to provide a theoretical basis for filling manipulator design.