The motion simulation model and finite element model of drill pipe handing manipulator are established respectively by using ADAMS and ANSYS,the movement simulation and strength analysis of the manipulator are carried out. The results show that the trajectory of manipulator is approximation level,and has no velocity fluctuations which can meet the stability requirement of manipulator in pipe moving work. When the claw is under linear horizontal load,the load of hydraulic pump increased with the displacement increase,more than a certain position,the load increased rapidly. When the manipulator sustained the maximum load in the limit position,the maximum stress occurred on the back arm and forearm,the hazard zone concentrated near the hinge hole. The obtained result can provides a reference for performance evaluation and structure optimization of drill pipe handing manipulator.