In order to completerequirements inthe farm haystackhandling, the manipulator is developed suitable for palletizing and handling. Optimization design was carried out for the structure and parameters of palletizing manipulator. As the expression of the wrist required,the kinematics mathematics model and equations were established with DH method to calculate forward and inverse kinematics, and to find pose of the end actuator. Then UG software was used for the design of three dimensional (3D) model, and the motion trajectory of pickingconveying processof manipulatorwas simulated with ADMAS. Thesimulation results show that the set up kinematics equations are correct, and designed manipulator meets requirements of working trajectory. The manipulator is very operative, which is consistent with the actual situation of the working processinthe farm haystack, andsome theoretical basis is provided fordevelopment of more advanced palletizing manipulator.