In order to solve the problem that the results of kinematics analysis are not easy to verify and the test cost is high on the real body, a simple five degrees of freedom(5-DoF) small model for teaching the robot arm is developed. The kinematics of the robot arm were analyzed by the D-H method, and then the kinematics simulation was carried out using MATLAB. Based on the Monte Carlo method, the working space of the robot arm was solved. Finally, the simulation results verified the expected design goals. In addition, physical experiments are carried out on the trajectory planning and motion simulation of the robot arm. The actual results also verify the consistency of kinematics analysis.