In order to solve the problem of APU accumulator installation, this paper puts forward several solutions, and completes the detailed design of the power assisted manipulator with reference to the pneumatic balance crane structure after analyzing each scheme. After the equipment manufacturing is completed, the problems of the pneumatic power assisted manipulator are analyzed in detail, and the improvement direction is proposed. Finally, the improved design is a multi degree of freedom power assisted manipulator structure, which sends the APU accumulator to the designated position inside the helicopter through XY two-way sliding, overturning, rotation and other movement forms.