Abstract: The humanoid manipulator system is a kind of precise mechanical and electrical equipment, and it is composed of a large number of precise electronic components and high-precision transmission links. During the launching process, it is put in a complex vibration and shock environment. In order to fight against the influence of the excess mechanical load on the performance of the Tiangong-2 manipulator in the launching stage, a kind of soft package suitable for the manned spacecraft is designed, and the related passive vibration suppression method is validated by mechanical environmental tests. It is shown that the soft pack can effectively restrain the influence of the mechanical load on the humanoid manipulator system, to satisfy the requirements of the accuracy performances in ground tests. The successful implementation of the inflight mission Tiangong-2 manipulator system further verifies the effectiveness of the soft package in the mechanical vibration suppression during the launching process.