This paper presents the kinematic design and analysis of four degrees of freedom 3R1P manipulator. The proposed design can be employed for the automation of industrial tasks such as pick and place, cutting, welding, and polishing. Denavit-Hartenberg convention is employed for the kinematic analysis of manipulator. The manipulator is designed to perform the tracing of a trajectory. Hermite cubic polynomial is considered for the generation of trajectory. The trajectory planning is performed using forward and inverse kinematics solution of 3R1P manipulator. The workspace is determined for the proposed 3R1P manipulator. A computer program is developed for the inverse kinematics solution of 3R1P manipulator. The effectiveness of manipulator is demonstrated by tracing a rectangular path using cubic polynomial profile in the space by 3R1P manipulator.