There are few varieties and applications about the oil drill pipe picking manipulator in the domestic market at present. A kind of oil drill pipe picking manipulator for oblique straight well drilling is designed according to the market demand. For the complicated operation condition outdoor of the manipulator, it is very important for ensuring its safety during working. The manipulator is taken as an object for motion planning. Theoretic computation and virtual modeling simulation integrated method was used for its motion and dynamics analysis. Dynamics simulation was conducted by ADAMS to this kind oil drill pipe picking manipulator for structural stress state under the circumstance of 8~11 level wind load and base vibration at the frequency of 50 Hz. The results were compared to with those in the ideal case without wind load and base vibration. The structure of the manipulator was analyzed whether met the safety requirements or not while working in the case of wind and base vibration. Rationality of structural design of the manipulator and motion planning are verified by the results, further possible optimization is proposed, and the technology development costs and cycle of new products are greatly reduced through the digital simulation.