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Testing antenna lobe pattern is an important method to analyze antenna performance. With the extensive application of millimeter wave antennas, how to develop a millimeter wave antenna test system with flexible deployment and low cost has become the key to mass production of millimeter wave antennas. To solve this problem, a millimeter wave antenna test system based on robotic arm has been developed.At the same time, in view of the single test function of the current planar antenna test system, the mmwave antenna test system based on the robotic arm can not only perform the planar near-field test, but also the cylindrical near-field spherical near-field test and the far-field test.The feasibility of millimeter wave antenna measurement based on the manipulator is verified by the actual precision measurement experiment and the calculation of the key motion parameters of the manipulator, and the theoretical basis for the system software design is provided.Compared with the test data of the traditional planar antenna test system, the gain deviation is 0.73%, the beamwidth deviation is 1.4%, and the sidelobe deviation is 1.37%. The practical application shows that the system can meet the test requirements of millimeter wave antenna, and provides an important means for millimeter wave antenna test.