A four-degree-of-freedom (4DOF) wrong frame book sorting robot with rectangular coordinates is designed. The driving mechanism was composed of a rotating mechanism in R direction and a sliding mechanism in three directions of X, Y and Z. The position to be reached by the end actuator was realized by the movement of each transmission mechanism. The kinematics equation of the robot was established by using D-H parameter method, and the kinematics of the robot terminal actuator was deduced theoretically. Then the model was modeled by SolidWorks, which was introduced into the ADAMS software for kinematics simulation. The results show that the displacement and velocity curves of the robot are stable and can reach the specified position in the space, which verifies the rationality of the structure design and provides the basis for the design of the control system.