Structured light has been exploited as an important tool for particle manipulation along a desired complex path. However, generating the required structured light illumination for the creation of an arbitrary shape without an analytic expression as a guide is challenging, specifically for designing a structured beam by mapping the shape of an arbitrary object. To address this issue, we propose an effective scheme to customize structured light freely and precisely by modifying the epicycle model in astrophysics. Predesigned structured beams can be identified with or without explicit analytic expressions of the desired shapes. Moreover, we study the roles and relationships between the number of epicycles and the number of key points. The local stretching and transformation of a specific structured beam are also analyzed. The advantages of the proposed method are demonstrated by conducting dynamic manipulation experiments using polystyrene particles. This method is simple and intuitive and provides an effective toolkit for the design of structured light for more complex tasks, thus facilitating advanced applications in optical manipulations.