Abstract: Computer-aided generation of manipulator kinematic models in symbolic form is studied in this paper.First,the recursive symbolic relations of D-H matrlces are derived.Then,a series of algebraic and trigono-metric simpfications for successive mulitiplications of D-H matrices are systematically analyzed.Finally,wepresent a method for computer-aided generation of symbolic models on DKP & Jacobian matrix.At the end ofthis paper four illustrative examples are given.