Aimed at the problems of heavy weight and difficult handling of the secure cordon rod, a new type of manipulator is designed for collecting and placing secure cordon rod. Three universal linear modules and a rotating platform are used to complete hardware structure of the manipulator. The trajectory planning of the manipulator is based on the kinematics model. In this system, PLC is used as central processing core, the PTO module is used for driving the stepper motors to realize the trajectory control of the manipulator. The experimental results show that the manipulator can accurately place the secure cordon rod in the specified position, which can realize the continuous automatic collection and placement of the multiple secure cordon rods.