In order to cope with the increasingly complex threats of nuclear and biochemical safety, and further improve the automation and quick operation ability of the decontamination equipment, an automatic decontamination manipulator for equipment rapid and automated decontamination was designed. The decontamination operation process was expounded, and the vehicle-mounted requirements of off-road chassis were met by the multi-layer boom folding technology. The precise and uniform linear motion required in the automatic decontamination process was realized by the multi-degree-of-freedom compound motion control technology. The results show that it can be used for the requirements of rapid and automatic decontamination of vehicles and large objects, and has obvious military and civilian significance.