Abstract: Aiming at the problem of research and development of the picking robot structure, the structure design and simulation test of the picking robot based on CAD/CAE technology were carried out. The picking robot was constituted of control system, intelligent system, actuator, drive transmission device and detection system. In order to ensure the structural performance and geometric rationality of the picking robot, the structural parameters of the manipulator and the end effector was optimized, and the control model o the end effector was determined. To verify the operation performance of the picking robot, the forward kinematics test was carried out by using the Matlab software. The test results show that the robot structure is reasonable and its precision could meet the requirement of the picking robot precision.