The work aims to carry out the research on the special automatic manipulator which can realize the continuous packaging, automatic measurement and filling of the filamentous materials to replace manual operation, in order to improve the production efficiency and automation and reduce business cost in food and medical industry. Based on mechanical and electrical integration and control technology, automatic manipulator was designed, whose overall structure used rectangular coordinate design scheme. The manipulator was composed of six hands with single chip microcomputer weighing device to achieve automatic measurement. Each hand had a multi-finger structure and it could grasp and discharge materials to fill the package through controlling the motion of hands. The horizontal and vertical motion of manipulator was controlled by PLC. By testing the prototype, the manipulator could simulate artificial operation and realize pickup, measurement and filling for filamentous materials. The design principle of the manipulator is feasible and lays the technical foundation for achieving automatic packaging of filamentous materials.