Abstract:Taking 6DOF serial manipulator as the research object, the basic structure of the mechanical arm was simplified. The coordinates of the robot arm were established based on the DH method, and then the kinematics mathematical mode of the positive solution was deduced. Monte Carlo method was preliminary studied in the workspace, and its workspace was drawn with the help of the software Matlab. Simultaneously, the cloud points of the manipulator in the workspace was got, the crosssection shape as well. The result shows that this mechanism has a larger workspace, which can be used for fruit picking and forestry operations.