The invention belongs to the technical field of numerical control machine tools, and particularly relates to a tool magazine and manipulator comprehensive performance detection method and platform. The tool magazine and manipulator comprehensive performance detection method comprises the steps that 1, a numerical control system is controlled to issue a tool change order through a human-computer interface, and a tool magazine starts to select tools; 2, the position precision of tool magazine movement is measured; 3, a pressure value of a cylinder in the tool chamfering process is measured; 4, a manipulator starts to rotate, and a wireless acceleration sensor starts to collect data; 5, noise of the manipulator is detected; 6, the position precision and whether tool falling exists or not are detected; 7, the vibration condition of the manipulator is detected; 8, when the manipulator is in place, whether tool falling exists or not is detected, and the position precision of the manipulator is detected through a laser displacement sensor; 9, the manipulator rotates by 90 degrees and returns to the normal position. Compared with the prior art, the tool magazine and manipulator comprehensive performance detection method and platform have the advantages of being easy to operate, high in practicability, high in precision and the like.