With the rapid advancement of artificial intelligence, the research and development of robots, particularly dual-arm collaborative robots, has witnessed a new wave. Owing to their ability to replicate the coordinated dexterity of human hands, dual-arm collaborative robots are well-suited for intricate and complex flexible tasks. In recent years, motion planning, coordinated control, and human-machine interaction have emerged as prominent research areas in the field of robotics. This study focuses on investigating the kinematics of multi-degree-of-freedom mechanical arms based on the Baxter robot. Firstly, we establish a kinematic model for the mechanical arm using the D-H parameter method. Subsequently, inverse and forward kinematic equations are designed and solved. The simulation results obtained through MATLAB Robotics Toolbox and ROS are compared to validate our findings accurately; thus providing a solid research foundation for analyzing kinematics and motion control in similar types of dual-arm collaborative robots.