The invention provides a manipulator design method for installing a mill lining. A rolling pendulum device, a gripping device, other accessories and a first cylinder, a second cylinder, a third cylinder, a forth cylinder and a swinging cylinder fit to the accessories are designed in the manipulator, wherein the first cylinder has the rolling joint action in the rolling pendulum device, and the second cylinder has the joint action of back-and-forth movement; the third cylinder has the pitch joint action, and the forth cylinder has the gripping joint action in the gripping device; the swinging cylinder has the joint action of up-and-down swing; multiple displacements of the manipulator in space are achieved through these different joint actions, and the high-load drive of the manipulator is achieved through arranging these cylinders; the structure size of the manipulator is reduced. In the invention, the degree of mechanization and automation in the replacement of the mill lining is greatly improved, and the labor intensity is reduced; the replacement time of the lining is shortened, and potential safety hazards in manual operation are avoided.