Abstract: A new inferential method for inverse kinematics equation of PUMA manipulators is presented in this paper, and efficient solutions of inverse kinematic problem are also given. The method needn't change the coordinates of the manipulator end effector, and analytic solutions of the problem are obtained. Additionally, a lot of multiplication of inverse matrics are avoided in the course of deduction. This method is very simple, the results are simulated and the conclusions are correct.