Taking the self-developed mobile dual-arm robot as the object, the mathematical model of the two-arm robot is established by D-H parameter modeling method. The kinematics model of the robot arm joint was established by using the Robotics toolbox of MATLAB, and the kinematics problem and trajectory planning problem in joint space based on the robot were analyzed. The Three Dimensional (3D) model of the dual-arm robot was established by SolidWorks and imported into the Adams simulation software to simulate and analyze the virtual prototype model. The simulation proves that the design of the dual-arm robot can meet the requirements of working performance, and provides an important theoretical basis for evaluating its mechanical index and the hardware selection of the subsequent drive system.