Abstract:In order to improve the speed of medicine fetching in automatic pharmacy, a new type of medicinefetching manipulator is designed. The gripper gripped medicine in translation, and below the base of the grippe designed the temporary medicine storage devices,the requirements could be met for the gripper to grip multiple boxes of different medicines at once. The coordinate system and kinematics equation were established by using D-H method and matrix method. The kinematics simulation of manipulator was carried out by using extended toolbox Robotics Toolbox in MATLAB software, and the kinematic range of manipulator was obtained. The its significance of reference are reducing the number of trips to and from the medicine port during the griping, shorten the time of fetching medicine, and planning manipulator trajectory.