A structure of explosiveremoval robot manipulator was designed. According to robot manipulator closed to the far end position and grasping the biggest explosives position two limit position, using extremum method to solve the size parameters of the robot manipulator, and using dimension parameters for structural design of the robot manipulator, the structure design was conformed to the theoretical calculation results, so it was ensured that the final structure design met the using demand of the robot manipulator. This kind of design method for other structure design provides a reference of the manipulator.