Based on the designed flexible manipulator, SolidWorks Simulation was used to do the linear dynamic analysis of manipulator, which was respectively made by three structure materials of alloy steel, aluminum alloy, carbon fiber reinforced epoxy resin matrix composites, and the manipulator was mainly simulated from two aspects of harmonic analysis and transient vibration analysis. The results show that the carbon fiber reinforced epoxy resin matrix composites have obvious damping effect on the manipulator, and the attenuation of vibration velocity is superior to the traditional alloy material as well as the vibration attenuation effect, which provides a reference for the design and vibration suppression of manipulator.