Abstract: According to the characteristics of it's structure,a simplified model based on kinematics positive direction analysis of welding robot was presented,with the method of Denavit-Hartenber(D-H) matrix,it then solved the mathematical model of the end pose of the welding robot and the description of welding robot's orientation and posture.With the software ADAMS,the motion simulation model of the welding robot was built up,the simulation trajectory of the end of model was obtained,and which was compared with the solution of the mathematical model to verify the accuracy and reliability of the mathematical model.With the simulation analysis of welding robot,the changes of kinematic parameters of the robot's joints were measured and studied,to provide the basis for subsequent design and manufacture of welding robot.It is very meaningful to set the welding position exactly,to ensure the welding quality and to reduce waster.