The work aims to design a new SCARA robot with six degree of freedom to solve the inflexibility for the end of the traditional SCARA robot with four degree of freedom. Firstly, based on the analysis of the structural characteristics of the traditional four degree of freedom SCARA robot, the end structure was improved to increase the degree of freedom of the robot, so as to improve the flexibility of the end. Then, the forward and inverse kinematics models of this robot were established by D-H parameter method and algebraic method respectively. On this basis, the simulation analysis of this robot was carried out in the robotics toolbox of Matlab with the comparison method, and the correctness of the kinematics model was verified. Finally, the trajectory planning of this robot was studied based on the quintic polynomial interpolation algorithm. The experimental results showed that the trajectory, velocity and acceleration curves of this robot were smooth and continuous without any breakpoints and abrupt points. It indicates that the robot moves smoothly and has good kinematic performance. It lays a good foundation for the subsequent motion control of this robot.