The invention provides a wrist knocking control method for a dulcimer robot. A bamboo hammer is fixedly connected with a rotating shaft of a rotation device and is perpendicular to the rotating shaft. Limiting devices are installed on the two sides of the bamboo hammer. The rotation device is electrified with forward current. The rotating shaft of the rotation device drives the bamboo hammer to rotate, the bamboo hammer touches the limiting devices and completes knocking through low vibration, the knocking force of the bamboo hammer is changed by adjusting the electrifying pulse width of the rotation device according to a played music score, and the knocking point of the bamboo hammer is changed by adjusting the positions of the limiting devices. The rotation device is electrified with reverse current, and the bamboo hammer rotates reversely to the initial position. The invention further provides a knocking device comprising a driving unit and a knocking unit. The driving unit is composed of a shell, an iron core, a permanent magnet fixed to the iron core and two coils located on the two sides of the permanent magnet. The knocking unit comprises an installation plate, a positioning pin, a bamboo hammer sleeve, the bamboo hammer and two limiting rods. Electrodeless adjustment on the knocking force is achieved by controlling the input pulse width of the coils, the knocking angle can be adjusted, and personate knocking can be achieved.