Abstract: It firstly analyzed and introduced the dynamic simulation process of ADAMS. It established the virtual prototype of picking robot by SolidWorks three-dimensional mechanical design software. Then it established the dynamic equation of picking robot and carried out the dynamic analysis. Finally, the simulation is carried out by ADAMS software. The simulation results show that the speed and acceleration of the end-effector of the picking robot are stable and smooth on all coordinate axes, and there are no discontinuous points at each time-end. It shows that the working stability of each joint of the picking robot has no obvious impact in the actual picking process, which proves that the designed mechanical structure meets the requirements.