This paper focuses on the vibration feedback control of double-link manipulators with variable mass loads. The time varying inertial force is calculated by rigid body dynamics， including the inertial force caused by the servo motor， the time-varying load mass at the end and the distributed mass of the rods. Based on the finite element theory， the dynamical model of the double connecting rod-variable mass structure is established， and the dynamic equation of the time-varying system is solved using the Bathe’s method， with the vibration signal of the end point being simulated. According to the responses， the influence of mass change on the dynamic characteristics of the system is analyzed， and the load mass change affects the vibration amplitude of the system significantly. The main reason is that the mass change causes an additional damping force. On the basis of dynamical analysis， a velocity proportional feedback controller is designed to actively control the residual vibration using piezoelectric patches. Active vibration control of the structure under various working conditions is carried out， including the case for mass-increasing loads and mass-decreasing loads， taking into account the typical motion modes of the double-link. The results indicate that the residual vibration of the structure can be effectively suppressed with feedback control， and the motion stability and positioning accuracy of the manipulator can also be improved.