Abstract: Directed to resolving the iterative cumulative error in kinematics simulation of virtual prototyping, a new method is proposed based on kinematics mapping. The solution is through an introduction of new concept of pseudo-linkage, presenting the principle of its creation, kinematics analysis and kinematics mapping, and taking advantage of running a linkage module behind, associated with an incidence matrix. Finally, as an example of virtual prototyping, simulation to an internal-combustion engine is presented to show the feasibility and simplicity of the method.