Abstract: The clamping manipulator of automatic drill pipes racking system of offshore drilling platform was designed in this dissertation. This kind of manipulator totally meets the design requirements of lightness, large load, extensive service, simple and reliable structure and high efficient, etc, Comparing with other clamping manipulator of drill pipe racking systems, each sub manipulator equipped with just only one drive part can exactly meet the work demands, as greatly simplifies the mechanical structure and improves the working reliability. In this dissertation, the kinematical equation of manipulator by using the closed vector graph method was built , the kinematics simulation was realized based on ADAMS software and the result has verified the validity of the manipulator design. By comparison of the dynamics equation of manipulator by the method of traditional equivalent mechanical model and the dynamics simulation based on ADAMS software, Some variable curves of mechanical components of manipulator, which were closer to reality, were got for the convenience of the design of control system later.