Abstract: The dross eradication robot is a kind of industry robot which has 7 degrees of freedom to extend and retract the joint contacts. It can replace human force in the high temperature and high dust environment. The research of its structure kinematics and the establishment of the mathematical model on the robot ' s arm movements can provide theoretical and practical foundation for the control of robot' s actions, which would be an efficient method to study the moving characteristics of simulation arms and controllers.