Gear meshing test is the necessary process before gear assembly. The method of manual loading and unloading is low in efficiency and high in cost. It is an irresistible trend to use manipulator. By analyzing the shape parameters of the gears, the quick-replaceable clamp pads and the storage device are designed to adapt to different types of machine switching. Programmable Logical 〖JP2〗Controller (PLC) and PROFACE touch screen were used to build the control system, and the walking path of the manipulator was rationally〖JP2〗 planned. The position register parameters of different models were called by the method of index register, which improved the efficiency of programming and debugging. The motor servo-controlled X Y axis and lifting device were used by the system to quickly place the gear from the stocking device into the test station precisely. The system had been trial-produced in an automobile transmission gears factory. The practice proves that the manipulator works stably, the efficiency is increased by 14%, and the labor cost is reduced by one-third. The system construction method can be promoted and applied in a similar use environment.