An adaptive signal analysis method of HilbertHuang Transform (HHT) was used to deeply analyze the vibration characteristics of the manipulator. The signal timefrequency diagrams were analyzed, and then in order to achieve a ratio of signal energy of quantitative analysis, the variance contribution rate of the intrinsic mode function (IMF) was calculated. The results show that with the increase in speed, the resonance phenomenon arm weakens and the elastic deformation becomes large with the speed increasing.