A new type of selective flexible five degree of freedom (5DOF) robot was introduced. The kinematics equation of the robot was established based on the DH matrix, and the solution of inverse kinematics was derived directly by using algebraic method. Matlab numerical simulation was carried out to solve the reachable workspace of the robot, and the ADAMS simulation was carried out to give the displacement, velocity and acceleration curve of the robot end effector center in x, y, and z axis. The correctness of the kinematic equation was proved by using the measured data. The simulation results show that the robot arm can reach safely and smoothly to the position of the working space as designated, so as to verify the rationality of the structure design, and provide the basis for the subsequent structural optimization and motion control.