A four-degree-of-freedom desktop manipulator is designed. The three-dimensional model of the structure of the manipulator is established by using UG software. The interference of the key components of the manipulator is analyzed through motion simulation, and the interference part is optimized. Then the load of each component of the manipulator is analyzed by dynamic simulation, and the finite element analysis of each component of the manipulator is carried out in combination with the results of motion simulation, According to the results of post-processing, the key components of the manipulator are optimized.