Aiming at the need of the actual environment for high altitude with narrow working space, large heavy plate installed, especially the question of artificial plate installation still relyed on, the upper plate installation intelligent equipment related technical research is carried out. On the upper plate installed robot kinematics analysis, the kinematic positive and inverse solutions were found out. Key institutions and the four connecting rod among it were optimized through the establishment of the general mathematical model and fuzzy mathematical model. The optimum solution of the mechanism is gotten, which has laid a foundation for the trajectory planning of robot.