The positive and inverse kinematics of a new straightthrough wrist was analyzed.The workspace was analyzed for the wrist, and the kinematics simulation was completed with ADAMS software. The wrist and the cup were connected with the insulation bracket, so that in the side spray and top spray, the robot had a certain direction to reduce the wrist bending angle, and reduce the wear of the internal pipeline of the wrist.Through the analysis of the relationship between the angle and the tilt angle of the insulation bracket, it is concluded that when the angle of the bracket is 60°, the pitch angle of the wrist is up to 200°, so backward spraying can be realized.