In　order　to　solve　the　traditional　manipulator　dynamics　simulation　problems　of　low　efficiency　and　bad　real-time,　a　method　of　manipulator　dynamics　simulation　based　on　ODE　is　proposed.　First　of　all,　in　order　to　obtain　the　kinematics　model,　the　building　of　manipulator　D-H　coordinate　system　is　necessary.　Secondly,　the　calculation　of　manipulator　inverse　kinematics　is　performed　by　Euclidean　norm.　Thirdly,　manipulator　dynamics　calculation　is　accomplished　by　open-source　dynamics　engine　Open　Dynamic　Engine.　At　last,　the　3D　simulation　platform　of　manipulator　is　established　after　importing　3D　model　of　manipulator　into　Open　Inventor.　The　simulation　experiment　shows　that　the　method　has　high　computing　efficiency,　it　not　only　can　realizes　the　real-time　control　of　manipulator,　but　also　can　draws　the　curves　of　dynamics　parameters.　The　experiment　demonstrates　that　this　method　is　effective　and　can　be　applied　to　real-time　dynamic　simulation　of　robot　manipulator.