In order to realize the automatic production of power battery shell stamping production line, the mechanical structure of feeding manipulator was designed on the basis of multi-station stretching press, which adept a truss structure to realize the three movements of clamping-opening, lifting-falling and transferring-returning by the linear motion module in three degrees of freedom of X，Y and Z directions, and the motion cycle of manipulator was planned. Then, based on the sinusoidal velocity planning algorithm, a four-order S-shaped curve speed control algorithm with continuous jerk was designed to avoid the excessive impact of manipulator in motion. Finally, the rigid-flexible coupling dynamic model of manipulator was established, and the influence of speed optimization algorithm on the motion accuracy of manipulator was researched by analyzing the rigid-flexible coupling motion characteristics of manipulator. The research results show that under the control of speed optimization algorithm, the amplitude of motion is obviously reduced, which meets the design requirements.