According to the convenient detection needs of bridge inspection robots for different parts of high piers and high thickness bridges,the motion analysis and motion planning research of five-degree-of-freedom bridge inspection robot were carried out.The improved D-H method was used to model forward kinematics,the two forms of kinematic inverse solutions were solved by analytic methods,the Jacobian matrix was derived,and the singular form of the robot was analyzed.The robot working space was obtained by the Monte Carlo method,the working space could cover the area to be detected.The force relationship between each joint was derived from the connecting rod force and moment balance equation,and the motion planning research was carried out based on the joint load capacity.The feasibility of the method is proved by the simulation analysis results,which shows that the robot can complete the predetermined work task requirements.