Based on the theory of globoidal cam mechanism, the double globoidal cam-type stepping-driven manipulator is designed to realize the step-by-step movement of the actuator output “lifting, forward, falling, retreating”. According to the target rotation of the robot output, design the motion cycle diagram. Finally, the kinematic simulation analysis based on ADAMS, the displacement of the actuator, the velocity, the acceleration curve and the curve of the collision force and the collision torque were analyzed by using Creo3.0 to build the digital prototype of the double globoidal cam-type stepping-driven manipulator . To verify the correctness of the design results.