Abstract: Water pollution caused by algae, water lettuce and other aquatic plants has led to
environmental damage. The movement process of small mechanical devices is studied based on
multi-joint inverse kinematics (IK). System's three dimensional modeling is established by
using of the CAXA program. Based on the optimization and date exchange, the lever link of
salvage device parts is established using 3ds max software. The IK algorithm is used in motion
simulation and trajectory analysis. The movement of salvage device, position trajectory of IK
chain and movement trajectory of harrow claw are obtained. The method is suitable for high
interactivity and real-time applications such as movement trajectory design, motion editing and
optimization.

Key words: computer application, motion simulation, inverse kinematics, level