I've made an articulated manipulator on simscapae multibody diagram rather than importing form solidworks.
The problem arises in "get transform" block. The link Lengths are: L1 = 0.5; L2 = 1 & L3 = 1m.
As can be seen in , At given end-effector positions [0; 2; 0.5] the computed joint angles from Inverse Kinematic Block are [0;0;0]. But when given joint angles are applied to Get Transform (Forward Kinematics) block the xyz co-ordinates are [0;1;0.5] instead of [0; 2 ;0.5]
As you can see from the attached image , The problem is the Get transform block selects the same block as BASE and Body 1. The Link 1 is being selected as Body 2 and Link 2 is being selected as Body 3. Is'nt Body 3 should be Link 3.
As showed in , the World frame is attached with the Top Face of Base and Bottom Face of Link1 (at Revolute Joint 1). I have also tried by changing the position of world frame by attaching it to the bottom face of Base and using Rigid Transform Block but problem remains there.
Is there any possible solution to this.
PS: , ,  are attachments.