In order to meet the needs of heat treatment production line of furnace

a 4DOF cartesian transfer robot which has certain flexibility is designed and simplified the finite element model.On this basis

displacement and stress distribution of the robot is gained by making static analysis of structure in the extreme position.In addition

the modal analysis of robot structure is carried out to extract the first six order natural frequencies.The harmonic response analysis is carried out by using modal superposition method.Finally

the response of robot under harmonic load is obtained and the appropriate working frequency range is analyzed.The results of analysis will provide reliable reference for performance optimization of cartesian transfer robot.