Based on the influence of hinge point position of hydraulic cylinder on the stability of traffic cone retrieval manipulator, the relationship between the position of hydraulic cylinder articulation and the movement and force of traffic cone is studied. The optimization model of hydraulic cylinder hinge point position was established with the aim of minimizing the peak horizontal acceleration of traffic cone. The problem of constrained optimization was transformed into unconstrained optimization problem by penalty function, and the new objective function was formed. The optimal solution of the position of hinge point of the hydraulic cylinder was obtained by using particle swarm optimization (PSO) algorithm. Models were simulated before and after optimization. The simulation results show that under the premise of satisfying the maximum working pressure limit of hydraulic cylinder, the optimization of the hinge point position of hydraulic cylinder greatly reduces the peak value of horizontal acceleration of traffic cone and improves the stability of traffic cone retrieval.