The purpose of this paper is to present a new method to establish a kinematic model for different manipulators, whose can be simulate the move in a two-dimensional workspace.The model is applied and implemented to four robot arm manipulators witha different DOF.The first step of modelling a robot is establishing its mathematical model parameters. It requires assigning proper length and angle for each link and creation rotational matrics. Simulation based on Matlabsoftware was implemented for finding their workspace