In order to understand the influence of joint friction on the end vibration of a rigid-flexible coupling manipulator,to solve the problem of optimal design of the manipulator,ANSYS and ADAMS software were used to establish the rigid-flexible coupling model of the manipulator,and dynamic simulation was performed in ADAMS.By further creating a virtual prototype model of a mechanical arm that considers joint friction,dynamic simulation and analysis of the vibration characteristics of the robot end were carried out.The simulation results show that in the actual working process of the robot,joint 2 friction and joint 3 friction have the most significant influence on the end vibration of the robot;when considering multi joint friction,when joint 2 and joint 3 have friction together,the aperiodic vibration amplitude of the robot end can be reduced,and when the friction coefficient of joint 2 is 0.1,the robot end vibration performance is the weakest,but the friction coefficient of joint 3 is lower,the change will hardly cause a change in the vibration of the end of the robot.