A　dual-chain　manipulator　with　one　fixed　base　and　two　kinematic　chains　is　presented　in　this　paper.　Aiming　at　the　difficulty　of　motion　planning　of　dual-chain　manipulator,　a　motion　planning　method　of　dual-chain　manipulator　based　on　Artificial　Bee　Colony　Algorithm　(ABC)　is　proposed.　Firstly,　the　ABC　is　used　to　optimize　the　initial　configuration　of　the　dual-chain　manipulator.　Then,　the　end-effector　path　of　the　dual-chain　manipulator　is　planned　by　the　Rapidly-Exploring　Random　Tree　Star　(RRT*).　Finally,　the　joint　trajectory　is　generated　by　Gradient　Projection　Method　(GPM)　after　the　initial　configuration　and　end-effector　path　are　determined.　In　the　experimental　part,　the　prototype　experiment　of　the　dual-chain　manipulator　is　given,　which　proves　the　feasibility　of　the　motion　planning　method　proposed.