Aimed at the need and characteristics of vertical drill pipe handling on petroleum rig,a new type of automatic pipe handing manipulator was designed.The whole structure and working principle of the manipulator were introduced,and it was kinematic analyzed.The transform relationship between gripper at the end of the manipulator and the action joint was established by using the D-H method and Jacobin matrix.Finally the trajectory control simulation was completed by using Simulink.The results show that,the manipulator can well satisfy the need of drill pipe handing technology.