In response to the current situation of incomplete welding process and high welding difficulty in the welding process of the top beam of hydraulic support,a five degree of freedom welding manipulator was designed to ensure the welding efficiency and quality of the top beam.Based on the improved D-H parameter modeling method,the forward and inverse kinematics of the top beam welding manipulator were analyzed and solved. Monte Carlo method was used to analyze the effective workspace of the hydraulic support top beam welding manipulator.The Robotics Toolbox in MATLAB software was used to model,analyze and simulate the trajectory planning of the welding manipulator,and the angular displacement,angular velocity and angular acceleration curves of each joint were obtained.Adams was used to obtain the real-time tracking trajectory of the manipulator.The analysis and comparison show that the trajectory planning of MATLAB is correct.The analysis and simulation results show that the trajectory of the designed top beam welding manipulator is stable and continuous,meeting the requirements of kinematics.It lays foundation for the dynamic and static analysis,optimization design and motion control of the subsequent top beam welding manipulator.