The equation of calculating the angle speed and the angle accelerated speed of the big arm and the small arm of prosthetic manipulator is derived.

This paper introduced the constitution and specific design of robot with six DOF and researched the position control system of single joint of robot.

It studies and solves the key technology about the design of joint structure in the full-joint-manipulator field,focuses on introducing the thought and method of the creative structure design about airframe,shoulder joint,elbow joint,forearm and wrist etc.