For the design requirements of the manipulator, a doubledegreeoffreedom manipulator composed of two hinged fourbar mechanisms was designed. The rigid body model of the manipulator was established by using ADAMS, and the motion parameter curves at different moments were obtained by simulation. A flexible body model of a specified component was built by using ANSYS, and modal frequencies and modal vibration mode values at different orders were obtained. The rigid-flexible coupling model of the manipulator was obtained after the joint simulation of ADAMS and ANSYS. The simulation results show that the flexible body model has a slight displacement change in z direction, and the displacement fluctuation range in x and y directions increases by 10 mm. The control circuit diagram was drawn by using Altium Designer software and the physical prototype was made. The experimental results show that the robot arm has wide applicability