The link coordinate of a handling robot was established by using DH method, and the kinematics positive solutions were deduced in detail. The displacement and angle of the robot end location point were obtained from the handling robot motion simulation analysis based on ADAMS, so that the validity of its kinematics model was demonstrated. At the same time, using ADAMS for the handling robot space trajectory planning in actual applications, the scene debugging could be guided, and the scene debugging time was saved. The handling difficult problems of the heavy weight of a certain size and harmful material were solved by the handling robot in the actual production, thereby improving the production efficiency.