Based on single-motor drive technology,a new light-weight multi-joint discretely-actuated space manipulator with 5 degree of freedom(DOF)was designed.More than one joint of which was driven by one single motor,and each of its joint motion was controlled by clutches.Aimed at the coupling characteristics of joint motion,which were caused by the particularity of transmission chain structure,analysis were done,and some compensation measures were given.In order to study the vibration characteristics of the manipulator,the model analysis was carried out by using ANASYS simulation software.The result of stimulation presents that the natural frequency is far away from energizing frequency of the manipulator.Through kinematics positive and negative solving of the manipulator,and simulated analysis by MATLAB,it is found that this manipulator can implement complex trajectory with several joints working together.