According to mechanical structure problem of single arm SCARA manipulator，and obtaining the structure characteristics of single arm atmospheric manipulator has important significance for accurate kinematics and dynamic control. Firstly，it divides robot into three modules of rising，rotation and stretch axis. Then puts forward to the positive and negative solution of kinematics，and calculates the dynamic equation with Lagrange method. Finally，using the method of parameter identification solves coefficient of friction. Using MATLAB robot toolbox executes kinematics and dynamics simulation experiment. It compares the dynamic torque and motor torque to prove the validity of algorithm. Through the actual test， kinematics and dynamic is reliable and efficient.