The work aims to study the kinematic characteristics and experimental analysis method of a three- degree-freedom manipulator in an automatic assembly line. The D-H motion equation of the manipulator was created. The manipulator model was built in SW and imported into RecurDyn to complete the kinematics simulation of manipulator. At last, the test prototype was validated and analyzed. Through kinematics simulation analysis, the displacement changes at the end points of link 2 on the X-axis, Y-axis and z-axis were respectively 67 mm, 75 mm and 150 mm. The error percentages of the maximum speed design target and the simulation result were respectively -0.53%, -1.57% and 3.08%, and the error percentages of the maximum acceleration were respectively 2.2%, -0.087% and -3%. The test verification platform was set up. Through modular design software, it was found that the kinematics characteristics of the manipulator were good and the motor current curve was smooth and stable. The three-degree-freedom manipulator of the automatic assembly line has the characteristics of continuous motion, stable motion and simple control, which is in line with the working characteristics of the automatic assembly line.