A four degreeoffreedom stamping robot was designed. Establishing trapezoidal control algorithm, the S curve acceleration and deceleration control algorithm, based on analyzing the influence of stamping speed, acceleration and jerk on the robot movement, in order to improve its motion stability, a threeorder Scurve acceleration and deceleration control algorithm was proposed.Through the ADAMS simulation,the performances of the three kinds of control algorithm were compared.It is concluded that threeorder Scurve acceleration and deceleration control algorithm has more advantages in the motion planning.It provides reference for subsequent movement analysis and optimization of stamping robot.