The vibration in the process of changing the tools seriously affects the stability. In order to analyze the causes of vibration, the vibration accelerations are tested in several key locations. After the testing signals are processed by wavelet de-noising and correlation calculation, the main vibration source is determined near the manipulator. After comprehensively analyzing the manipulator′s output curves and the temporal vibration signals, it is determined that the vibration is produced by the collision of catching tool and the collision of inserting tool, and the influence of vibration intensity is analyzed by changing the speed and the tool weight. A method is proposed that the vibration source can be quickly recognized through the software based on the wavelet neural network theory. The research results can be used to assist designing, installing and adjusting.