Space manipulator has an urgent application demand in manned spaceflight activities. Due to the limitation of spacecraft size, mass and other factors, the space manipulator has the characteristics of large flexibility, many operating objects and large load variation, which brings great challenges to the design verification and mission verification of the manipulator.The paper describes the requirement of multi-domain simulation. The multi-domain simulation model of space manipulator is modeled, revised and verified. The revised simulation model is successfully applied to central controller test, on-orbit mission verification and digital manipulator development. The problem of mission verification for space manipulator is solved.