Abstract: In the traditional SCARA robot engaged in the upper and lower material from the machine, motor and reduction device lie near the end of the execution, which has shortcomings, such as a large space and low efficiency. A new 3 degrees of freedom transfer robot (3-DOF T-robot) was proposed. The robot was set up on the base of the front two joints drive device. Based on this new configuration, the kinematic model was established by means of D-H method. The trajectory planning was created with speed, acceleration and displacement equation with modified trapezoid pattern. The three-dimensional model of the robot was built with SolidWorks software. Then, a simplified robot model and robot body were produced, and the point-to-point motion comparative test and transfer test were simulated. The results show that the physical design of 3-DOF T-robot can effectively reduce the end mass, increase the operating space, and meet the requirements of common functions such as carrying and sorting.