This work aimed to improve the efficiency of Automatic Packing Machine of shaped bottles. Combining the industrial need of the manipulator, a mechanical manipulator was designed for packing of shaped bottles. The relationship between driving force and clamping force of the mechanical manipulator was theoretically calculated through design analysis of the mechanical manipulator, as well as the clamping force of Chuck and the Turning Angle of the Chuck. Based on the calculated theoretical data, theoretical basis was provided for the simulation analysis of the mechanical manipulator. A 3-D model was built based on Solidworks and imported into ADAMS, the parameters were set, and the constraints and drive were defined. The simulation analysis of the packing process of the mechanical manipulator was completed in ADAMS. According to the results of the simulation analysis, the manipulator could grab and put a bottle in the carton to achieve automatic packing of shaped bottles. The design of the mechanical manipulator achieved packing of shaped bottles, and improved the production efficiency of the automatic packing machine.