The　standard　D-H　parameter　method　was　used　to　analyze　the　kinematic　modeling　of　the　redundant　manipulator　with　seven　degrees　of　freedom.　By　establishing　the　link　coordinate　system,　the　transformation　matrix　of　the　end　tool　coordinate　system　relative　to　the　fixed　coordinate　system　is　obtained,　and　the　positive　motion　of　the　manipulator　is　solved.　According　to　the　working　condition　requirements　and　the　structural　constraints　of　the　mechanical　arm,　the　joint　angle　of　the　mechanical　arm　is　constrained,　and　the　inverse　kinematics　solution　of　the　mechanical　arm　is　solved　by　the　matrix　inverse　multiplication　analysis　method,　and　the　positive　kinematics　solution　is　mutually　verified　to　ensure　the　correctness　of　the　solution;　Matlab　Robotics　Toolbox　10.3　simulates　the　working　space　of　the　manipulator　model,　and　judges　the　rationality　of　the　manipulator　structure　through　the　simulation　space　results.　©　Springer　Nature　Switzerland　AG　2019.