The concrete hydraulic dismantling manipulator was taken as the research target. The connecting rod coordinate system of the manipulator was established using DH rule. The kinematic analysis of manipulator was finished,and the correctness of the kinematic model was verified. In ADAMS， the kinematics simulation analysis was carried out on the manipulator model according to sequence control， which obtained the largest dismantling height of manipulator， maximum transverse dismantling width， maximum dismantling depth， motion envelope diagram and displacement curve of the end of spray gun. It provides a theoretical basis for the trajectory planning and control of manipulator.