To simplify your life:
Action Verbs: Depict action of the subject
Examples: I ran to the store. After the rain stopped, I jumped in the puddles.
Helping Verbs: Paired with a verb to help the verb in a sentence.
Examples: I am planning a party. Those nasty squirrels have eaten my garden. The dogs were chewing their toys.
Linking Verbs: Join the subject and predicate of the sentence.
Examples: The boy is scared. That was a delicious pie. The hallway is muddy from the students' wet boots.
Does that help clarify??