Abstract: In order to analyze the kinematics and dynamics of the wave compensation gangway, in the kinematics, the three-degree-of-freedom gangway is used as a reference, and the mechanical arm is a series mechanism. The kinematics modeling takes the D-H parameter method as the core method to solve the kinematics forward and backward. The robot component Robotics Toolbox in Matlab is used to establish a model to verify the motion range of the gangway. The Newton-Euler method is used to solve the force and moment in dynamics, and the iterative method is used to analyze the force and moment generated by the pitching joint and expansion joint in the compensated motion of the gangway.