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The kinematic analysis is the relationships between the positions, velocities, and accelerations of the links of a man ipulator. The kinematics is divided into two types, forward kinematics and inverse kinematics. In forward kinematics, the length of each link and the angle of each joint is given and we have to calculate the position of any point in the work volume of the robot. In inverse kinematics, the length of each link and position of the point in work volume is given and we have to calculate the angle of each joint.The forward kinematic analysis is not difficult to solve. It is solved by using simple homogeneous matr ices. On the other hand, the inverse kinematics is so hard to solve and it will be harder if we increase the degrees of freedom. There are different methods to solve the inverse kinematics. The analytic method and Jacobian method are well -known.In the project, I used the analytic method. In the thesis, I designed a prototype robot arm with 3 freedom degrees. 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