A kind of six degrees of freedom (6-DOF) economic industrial robot is designed. Considering the economy, the selection of driving motors, reducers and controller were completed, the structure of each joint was designed, which ensures the performance requirements and reduces cost of the robot at the same time. According to the D-H method, its mathematical model was established, and the kinematics equation of the robot was derived. The working point cloud of robot was given by using Monte Carlo method. The robot modeling and the kinematics examples were simulated with the Robotics Toolbox of Matlab program language. Based on the simulation, the motion of the robot was analyzed. The simulation proves the kinematic algorithm and the desired design goals are right, also it is beneficial to research of robot planning and control.