Kinematic and dynamic analysis have a very important effect in the research of robot arm. In the past, the method used in the research of the robot arm were all need to build complex mathematical models and procedures, but SimMechanics has the function of simple and quick access to get the model of dynamic system, and the system modeling is convenient intuitive, and the simulation function is powerful, the structure and the optimization of system parameters can be changed in the model, and to analyse the results in the simulation environment. By using above advantages of SimMechanics, taking the six degrees of freedom (6DOF) industrial robot arm ER10 as the object of research, importing mechanical arm model of the ER10 built in SolidWorks to MATLAB/SimMechanics simulation platform, then the corresponding simulation model was gotten. In the platform of motion simulation, by adding position signals of the end of the mechanical arm and various signals of joints (angular function, the torque value) to the joints in the model, analysis of kinematics and dynamics of the robot arm is carried out fully.