In the process of ocean drilling, using MonkeyBoard Pipe Handing equipment can save tripping time, speed up drilling speed, and shorten the drilling cycle. Through research to the domestic and foreign pipe handing device structure and key technology, a type of offshore twostory platform MonkeyBoard vertical Pipe Handing test device was designed. The structure design of the overall scheme of mechanical system and all components were accomplished. Combining the overall scheme of mechanical system, the selection of control elements, the trajectory planning and the overall design of control system are completed.