Abstract: This paper designs a small one and conducts its kinematic study in three working positions. At present, the rigid-flexible coupling analysis of a manipulator is mostly the joint simulation of ANSYS software and ADAMS software, where a modal file of the flexible body is created in ANSYS software to use the bidirectional data exchange interface of ADAMS software to realize rigid-flexible coupling dynamics analysis. However, with continuous updating and iteration of the software, this analysis process can be realized in the transient dynamics analysis module Transient Structural configured in Workbench software, the simulation platform of ANSYS. SolidWorks software is used to design the model of the manipulator. Meanwhile, ANSYS software is used to simulate the statics and the rigid-flexible coupling dynamics of the manipulator. The experimental results show that the static rigidity analysis has a great influence on the accuracy of the results, and it is further concluded that the maximum equivalent stress analysis cannot accurately judge the safety of the structure. The simulation results of the rigid-flexible coupling show that, in three different positions, the maximum stress value of the large arm of the manipulator is 82.941 MPa, and the maximum moving speed of the large arm is 2.455 1 m/s. At the same time, the manipulator is also capable of reaching the maximum working range of 1 372.7 mm. The transient dynamics motion simulation by ANSYS can effectively predict motion patterns and stress distribution of the manipulator, and make further calculation of the service life of the manipulator.