For seed separator actuator working characteristics of the low speed and low load, a small high-speed parallel manipulator was designed as seed separator of actuators. Using SolidWorks and MATLAB software simulation technology, established the simulation model of robot hand fully, and Usesd full performance indicators to make optimization design for parallel mechanism. The results show that the manipulator work within the scope of the condition number of jacobian matrix is small, smooth fluctuations, and manipulator kinematics performance and driving performance are good. Research on the establishment of the prototype of the manipulator and the control method has certain reference value.