Abstract: Based on the operating principle of the automatic laying molding equipment, the three-dimensional model of each component of the fiber laying molding machine was established by SolidWorks software. Taking the key parts of 6-DOF fiber laying virtual prototype as the research object, the software ABAQUS was used for statics analysis and modal analysis, and the simulation results of the key parts were obtained. By analyzing the simulation data of the key parts, it was verified that the structure of the laying machine can meet the requirements of the strength, stiffness and stability of the laying equipment. The simulation model of the laying virtual prototype was established, and the variation rules of the speed and acceleration at the connection of the core die and the laying head and the manipulator arm were obtained. The rationality of the design of the 6-DOF fiber laying virtual prototype was verified by analyzing the variation range of the laying speed and acceleration.