Focusing on the 5DOF(DegreeofFreedom) serial robot for cleaning aircraft surfaces, the dynamic model of the cleaning manipulator is established by using Lagrange’s equations, Solidworks was utilized to establish the virtual model of the cleaning manipulator, then, the model was imported into ADAMS to generate the virtual prototype, and through carrying on the dynamic simulation and analysis, we obtained the relation curves of joint angles and joint torques, and determined the input joint torque required, which provides a reliable basis for the control and types of joint driving.