Dear Saravanamohan

you can see this learning video

https://www.mathworks.com/videos/applications-and-tasks-in-simmechanics-68844.html

Dear Saif Aldeen Saad Alkadhim,

Thank you for your immediate response . I have gone this video. Very useful .Still have some more doubts  while implementing in my proposed SCARA robot .  I will get back to you .

Dear Saravanamohan M

you can read these papers

SimMechanics and Forward and Inverse Problem of Dynamics

Mechanical System and SimMechanics Simulation

Thank you saif.