Abstract: According to the characteristics of high speed and heavy load, a design and analysis scheme for train wheel grasping and handling manipulator is proposed, and the motor selection is carried out for the whole frame longitudinal movement (longitudinal X axis) and vertical movement (lifting Z axis). Creo4.0 software is used for 3D modeling, and then it is imported into ADAMS software to simulate the dynamics of the longitudinal and lifting mechanism, and the driving torque is measured. The simulation results show that considering the running inertia, the required torque is less than the maximum torque of the selected motor, and the motor selection is suitable.