In order to ensure the safety of personnel

considering the use of robotic arm instead of human to work under the dangerous environment conditions

a 6-degree of freedom（ Do F） manipulator is designed according to this requirement. According to D-H method

the coordinate system is established for each joint of manipulator and the connecting rod parameters. Set up a kinematic model of the manipulator. Attitude and position of the end effector are deduced by homogeneous transformation

and the accuracy of modeling is verified by simulation and mathematical calculation. According to the mapping of joint space to work space

Monte Carlo method is used to analyze and solve the workspace of the manipulator. 3 D nephogram of workspace is drawn by MATLAB. It provides a reference for follow-up robotic trajectory planning

motion control and parameter optimization.