In order to meet the requirements of wind tunnel test for some large-scale models, a five-degree-of-freedom manipulator should be designed in a specific wind tunnel environment to support the test model to carry out wind tunnel test. By analyzing the gravity and aerodynamic load of the model, the installation and use space of the manipulator and the index requirements, the series-parallel structure is adopted to realize the design of the five-degree-of-freedom manipulator in the specific wind tunnel environment. The results of finite element analysis show that the manipulator meets the requirements of stiffness, strength, accuracy and stroke, and can meet the requirements of wind tunnel test for a kind of model, which is of great value.