Abstract: Aiming at the problems of high labor intensity, high technical requirements and low operation efficiency of manual rubber tapping, a new fixed rubber tapping machine with three degrees of freedom is designed. The device is equivalent to the RPP model, the kinematics and the dynamics of the device are analyzed by the D-H coordinate method, the Monte Carlo numerical analysis method and the Lagrange dynamic method respectively. The operation status of the rubber tapping machine is verified by simulation. The results show that the position, speed, acceleration, torque and driving force of each joint of the new fixed rubber tapping machine show a smooth curve with time, and the predicted trajectory can be achieved.