A kind of manipulator model of six degrees (6D) of freedom used for dangerous operations was established. According to the DH method, its mathematical model was established and kinematics analysis was forwarded. The correctness of built kinematics equation was verified by the calculation and simulation. The working point cloud of manipulator was given by using Matlab to solve work domain of the manipulator and using Monte Carlo method to analyze the work space of manipulator. The force analysis of base in the process of manipulator movement was carried out. The results show that the end effector moved faster, the moment of base supported is bigger. It is an obviously effect to the stationary of the joint angle velocity and moving speed of end effector on torque curves, and which is basically direct proportion. The base torque is at largest in the change direction of movement of the end effector.