Based on the analysis of the forming law and manufacturing technology of butter cake, a new butter cake processing machine body was proposed, consisting of a three-degree-of-freedom manipulator and a four-axis motion platform. In the control system, ARM microcontroller and MCX514 motion control chip were used as the core hardware of the control system. At the software level, FreeRTOS embedded operating system and GRBL numerical control system were used as the software framework of the control system. Through the calibration of the basic coordinate system of the contact three-point handshake, the manipulator and the motion table were cooperated to complete the butter cake processing and shaping.