This paper presents a 7-DOF (Degree Of Freedom) fiber placement machine. The fiber placement machine is designed through modular method and function analysis. The machine consists of three major parts: manipulator, spindle and creel cabinet, which has seven axes in total. The three rotating axes intersect in a vertex and three shifting axes of the manipulator are orthogonal. The style of wrist is orthogonal spherical wrist and it can achieve yawing, pitching and rolling motion. The placement head is mounted on the end of manipulator, including guide module, clamp module, restart module, cut module, compaction module, collection module and heat module, which can achieve independent control of tows clamp, restart and cut. The creel cabinet has the function of tension control.