This paper presents to generate kinematic manipulator model and to optimize length parameters of DH parameters using a new manipulator simulation software. Easy data structure, next-generation database engine, and plug-in structure are developed for the new manipulator simulation. The kinematic manipulator model is generated by given DH parameters. A dynamic motion solver is used to solve the inverse kinematics problem for the given Cartesian trajectory for the end-effector of the manipulator. Also length parameters of DH parameters is optimized to minimize relative kinematic manipulability and dynamic manipulability of the manipulator.