A 3-DOF manipulator is modeled in ADAMS. In MATLAB, inverse kinematics is solved by geometric method. The desired trajectory, angular velocity and angular acceleration of each joint are obtained by the high order polynomial interpolation to complete the kinematics planning of the manipulator. Kinematics equations were got by D-H method and dynamics equations were obtained by Lagrangian method according to angular variables, velocity and acceleration. In ADAMS, kinematics and dynamics simulation on the model are made respectively. Simulation results are consistent with theoretical calculations to verify the correctness of each other, which can provide an effective basis for the control of the manipulator and the selection of the appropriate drive system. ©, 2014, Shanghai Jiao Tong University. All right reserved.