A digital twin of the six degrees of freedom manipulator was designed.The surrogate model of each joint was established by using machine learning,and the force transmission between the internal parts of the six degrees of freedom manipulator was completed by combining the static model.Finally,the digital twin of the six degrees of freedom manipulator was obtained.The digital twin was used for test,and compared with the finite element static test and transient dynamic test of ANSYS software.It was confirmed that the digital twin can greatly improve the operation rate under the premise of meeting the calculation requirement.