With the RB03 six degrees of freedom (6-DOF) robot as the research object, it is applied to the field of agricultural automatic picking. The joint coordinate system was established with D-H method, the link parameters was determined, then the kinematics equation was derived, and the forward and inverse solution of the robots kinematics were solved. In the platform of Robotics Toolbox of MATLAB, the correctness of the solution process was verified by kinematics modeling and simulation. The working space cloud map of the robot in the allowable range of joints was generated by the Monte Carlo method, which limit position of the movement was analyzed. The simulation results show that the robot structure is reasonable in design, it can meet the requirements of work and provide the necessary foundation for the following motion control and path planning.