Abstract: Given that ship propellers are prone to becoming entangled in foreign objects such as fishing nets, and that manual removal poses significant risks, this study focuses on a multi-degree-of-freedom underwater entanglement-removal manipulator. A kinematic model was constructed using the Modified-DH method, and both forward and inverse kinematic solutions were derived. The Monte Carlo method was used to simulate and analyze its reachable workspace. Trajectory planning was performed using polynomial interpolation, and trajectory simulation was implemented using MATLAB. Additionally, Adams was utilized to verify the motion of the virtual prototype. The results indicate that the manipulator possesses a sufficient working space capable of covering the propeller de-entanglement operation area; the trajectory planned using fifth-order polynomial interpolation exhibits smooth and continuous characteristics, with joint movements free of impact or abrupt changes, demonstrating good operational stability. These findings provide theoretical support for the structural optimization and control strategy design of underwater de-entanglement manipulators.