Abstract:The rigid body motion and transitive relation of manipulator are described by using Lie group knowledge, screw theory and other modern mathematical tools. Kinematics model of tandem configuration manipulator was established, and the positive and inverse solutions of kinematics were analyzed by index product formula and joint screw. The kinematics algorithm was verified by taking one 6 DOF 3P3R greenhouse service manipulator as an example. The kinematics algorithm based on screw and index accumulation was equivalent to the D-H parameter method, but, in contrast, the meaning of geometry and physical is clearer, calculation process is easier and with no singularity, it is more suitable for the demand of manipulator movement control system design.