The planar circular restricted three-body problem (PCRTBP) model and calculation method of invariant manifolds of a periodic orbit about a libration point are presented, intersection conditions for transfer orbits designed for different periodic orbits (original orbit and desired orbit) based on invariant manifolds of PCRTBP are researched and given: first one is that the Jacobi constants of a pair of periodic orbit must be equal; second one is that choice of the departure moment of original orbit and the entry moment of object orbit is made in order to the manifold conjugated by unstable manifold of original orbit formed at the departure moment and stable manifold of object orbit formed at the entry moment is most optimal in energy. Finally, as an example, the transfer orbit between the Lagrange points of the Earth-Moon System is designed by making a choice equal Jacobi constants and departure/entry moments on the state space plot for a pair of periodic orbit.
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