Masticulate is not a word, at least, not in English!
There are a few similar, real words, such as;
Masticate - which means to chew.
Masturbate - you know what that word means, and if you don't, you're probably too young to have me explain it here.
If you happen to see the word Masticulate used somewhere, by someone, they either mean one of the above two real words and have made a mistake, or they are using it in the way that the Urban Dictionary defines it. I won't give you that definition because it's total baloney and partially obscene.
To conclude, Masticulate is an imaginary word that doesn't exist in English.