The SCARA robot was widely used in carry task for vertical rigidity and horizontal flexibility. Aiming at kinematics modeling problem of sole arm SCARA vacuum manipulator，it built a simulation platform based on robot toolbox. The SCARA robot had three degrees of freedom，which completed horizontal，circular and vertical movement. Firstly，according to MDH method，it simulated movement and explained kinematics from two aspects of positive and inverse solution. Then，verified correctness of positive and inverse kinematics SCARA robot model. Finally，it proposed a geometrical method of kinematics modeling to simplify calculation complexity. The simulation platform result shows that the simulation platform can effectively simulate movement state.