Abstract: In this paper a motor-driven medical rehabilitation mechanical arm is designed and the movement process of the mechanical arm is simulated and analyzed to study its safety and reliability in the movement process. The main research contents include the mechanical structure design of the mechanical arm and the modeling using SolidWorks software, the analysis for the forward kinematics and inverse kinematics of the mechanical arm and the establishment of kinematics equations, the analysis on Adams platform for the kinematics of the mechanical arm including the motion trajectory and speed of the mechanical arm.