A 3P2R assembly robot is designed in conformity with a small size data interface and a high accuracy assembling characteristics, and SolidWorks is used to set up the Three Dimensional (3D) solid model of the robot. The MDH method and homogeneous coordinate transformation were adopted to establish the forward and inverse kinematics solution. The correctness of the forward kinematics solution was verified based on calculation. The relation curves of terminal actuator trajectory, velocity and acceleration varying with time were obtained, so as to prove the rationality of the design parameters for the robot by using Matlab Robotics Tool Box to simulate dynamically its assembling operation. The results of the research verify that mechanism movement is feasible, which provides a theoretical basis for robot dynamics analysis and control system design.