In　order　to　understand　the　kinematic　characteristics　and　manipulation　ability　of　human　upper　limb,　a　kinematic　model　of　the　right　upper　limb　was　built　according　to　limb＇s　anatomical　structure　analysis　and　upper　limb　motion　description　method　proposed　by　the　International　Society　of　Biomechanics.　In　this　model,　the　motions　of　sternoclavicular　joint,　glenohumeral　joint　as　well　as　elbow　joint　were　involved,　and　the　motions　of　acromioclavicular　joint　and　scapulothoraci　joint　were　equivalently　replaced　by　the　motion　of　shoulder　gridle.　Based　on　the　motion　coupling　of　upper　limb　joints,　the　Jacobian　matrix　describing　the　velocity　relationship　between　limb　joints　and　limb　wrist　point　was　derived,　and　the　kinematic　dexterity　of　the　right　upper　limb　moving　in　coronal　plane,　sagittal　plane　and　horizontal　plane　were　analyzed.　The　results　show　that　the　number　of　independent　joint　parameters　which　impact　wrist　point　movement　is　less　than　that　of　the　natural　axes　of　the　upper　limb,　and　the　velocity　Jacobian　matrix　has　three　different　structures　corresponding　to　the　value　region　changing　of　elevation　angle;　When　the　upper　limb　moves　in　these　three　special　planes,　the　dexterity　index　values　of　extension　configurations　of　the　upper　limb　are　smaller　than　those　of　inflexion　configurations,　and　human　upper　limb　obtains　better　kinematic　dexterity.