In view of the actual demand for the upgrading and transformation of the stamping industry, a high flexibility and simple control 4-Axis stamping handling robot is designed and developed. SolidWorks was used to set up the solid model of the robot; D-H method was adopted to establish the robot kinematics equation, by which the forward problem and inverse problem were all solved. The moving procedure for trajectory planning was realized after taking advantage of software ADAMS to complete kinematics simulation; and to analyze and evaluate the displacement, velocity and acceleration data curves on X, Y and Z direction of robot end actuator center. Finally confirmed the reasonableness of structural design, it forms a basis for implement the controlling movement of the robot.