Model of Powerbot mobile manipulator aiming at standard DH method and modified DH method were constructed in the paper, its kinematics, inverse kinematics and dynamics of mobile manipulator were simulated by use of robotics toolbox for MATLAB, and the results was verified with actual operations. In addition a three-dimensional mobile manipulator model was added to Microsoft Robotic Studio, a modeling and simulation platform of general mobile manipulator was established, it provides a framework and basis for further research planning and control.