Kinematic simulation in virtual environment is the key technique of product performance evaluation.Based on graph theory,the paper gives the integrity knowledge expression of product motion model,including the topological structure,motion dimension and driver information.It builds a solver of kinematic analysis for planar linkage interactive-oriented,which based on the auto-identifying of Assur groups and auto-generating of kinematic analysis routine by operation of labeled adjacency matrix.A new method of kinematic simulation for virtual prototyping is put forward based on the kinematic mapping of pseudo-linkage.The study results have been applied to the kinematic simulation of intemal-combustion engine,punch and crusher.