Abstract: Recently researchers are more and more interested in robot redundancy. In this paper, theories on kinematics and design for kinematically redundant manipulators are reviewed. At first all kinds of inverse kinematic algorithms are compared and discussed, secondly principals for the design of kinematically redundant manipulators are analyzed, thirdly the repeatability under pesudoinverse is investigated. At last, future works on kinematics and design for kinematically redundant manipulators are given.