The design of the manipulators of shotcreting machines is complex. The control of the working path of the endeffector is the key point of the design. In order to solve the control problem of the joint drives, the authors make study on the relationship between the working path of the endeffector and the structure of the manipulator, build the kinematics equation by DH coordination system, and provide the inverse kinematics solution. The inverse kinematics solution method is employed to calculate the pole parameters of the manipulator under a given shotcreting path by using Matlab and COSMOSMotion language. A virtue prototype experiment is designed to simulate the motion of the manipulator. The simulation result meets the working requirements. It shows that the inverse kinematics solution is correct. The mentioned method can be applied to the study on similar manipulators.