In order to solve the problems of low operation efficiency and monopoly of imported equipment price in lining replacement process of super-large mining mill, a self-propelled Eight Degrees of Freedom (8-DOF)heavy-duty manipulatoris developed by using virtual prototyping technology.Firstly, the structure design of the lining replacement manipulator was carried out according to the operation requirements, and the model was established by using the three-dimensional (3D) software Inventor.Then, its kinematics mathematical model was established by D-H parameter method.Finally, the simulation analysis was carried out on RecurDyn platform.The simulation results show that the designed lining replacement manipulator can meet the requirements of operation; the established kinematics equation is correct; and the simulation result provides a basis for the selection of driving components.