At present, domestic filament winding movement mold of loading and unloading is mostly done manually. In order to improve production efficiency and to reduce labor load, an automatic handling device is designed by taking water treatment winding cans as an example to realize automatic loading and unloading of the core mold. Firstly, the target point and its pose passed by the robot arm during the transportation process were determined. The kinematics model of the manipulator was created in the MATLAB Robotics Toolbox 〖JP2〗according to the DH parameter, and the mechanical arm was moved by the fifth order polynomial interpolation in different workspaces.The trajectory simulation finally obtains the motion law that meets the requirements of no impact and stable operation during the handling of the water treatment tank.