Aiming at the special motion(position and posture adjustment) of the head link of a new mine rescue robot,a novel algorithm based on the combination of spatial decomposition and genetic algorithm(GA) was proposed to solve inverse kinematics of the robot.This algorithm can realize prospective position and posture with the lowest turning cost and keep the robot stable.The two-step spatial decomposition method is presented and it overcomes the defects of big searching space and not converging to the global optimum solution using a GA algorithm.Simulation results show that the position and posture error derived using the new algorithm is smaller and the joint angles are closer to real values.The new algorithm can satisfy the motion requirement of head link of the new mine rescue robot.