This study is kinematics for the manipulator development of cucumber harvesting. A theory value was verified by repeated error measurement after the forward kinematics or inverse kinematics analysis of manipulator. Manipulator is consisted of one perpendicular link and two revolution link. The transformation of manipulator can be valued by kinematics using Denavit-Hartenberg parameter. The value of inverse kinematics which is solved by three angles faction shows two types. Repeated errors refered maximum 2.60 mm, 2.05mm and 1.55 mm according to X, Y, Z axis. In this study, the actual coordinates of maximum point and minimum point were agreement in the forward kinematics or inverse kinematics. The results of repeated error measurement were reflect to be smaller compared to a diameter of cucumber. measurement errors were determined by experimented errors during the test. For reducing errors of manipulator and improving work efficiency, the number of link should be reduced and breeding and cultural environment should be considered to reduce the weight and use the hard stuff. The velocity of motor for working should be considered, too.