The QY-7t heavy container transport manipulator is taken as an example of study. Its three-dimensional (3D) structure was drawn up, the movement characteristics of each joint were explained, each coordinate and parameters were determined based the D-H parametric modeling method, and the forward kinematics equation and simulation model were established, then a numerical validation of the models was carried out. Based on this, kinematics simulation was conducted in application of the MATLAB/Robotics toolbox. The results verify the design of manipulator structure parameters is reasonable, and each joint does not appear impact and sudden change during motion process.