In the present paper, we consider a three-link underactuated manipulator, the first joint of which is active and the second and third joints of which exhibit passive motion, on a plane inclined at slight angle from horizontal the plane. We analytically investigate changes in the stability of equilibrium points of the free links connected to the passive joints using high-frequency horizontal excitation of the first link. We derive autonomous averaged equations from the dimensionless equations of motion using the method of multiple scales. We clarify that the two free links can be swung up through pitchfork bifurcations and stabilized at some configurations by producing nontrivial and stable equilibrium points due to the high-frequency excitation. Furthermore, it is experimentally verified that increasing the excitation frequency multiplies stable and nontrivial equilibrium points.