A general robot with three degree of freedoms (DOFs) is designed and the DOFs are mutual vertical. First, the transmission schemes of each joint were detailed designed according to the requirements and the three-dimensional (3D) model of the system was built. Second, according to the structural characteristics of the manipulator, the Denavit-Hartenberg (D-H) coordinate was obtained and its forward kinematics analysis was done. Last, the Monte Carlo method was applied to analyze the manipulator workspace, and the workspace range of the manipulator end actuator acquired. The simulation result is consistent with the design parameters of the manipulator, which will make a well foundation for the optimal design and inverse kinematics analyses of the manipulator.