In this study, the design, kinematic analysis and simulation of a 4-degree-of-freedom tapping machine were performed. Solidworks software was used. The design was transferred to the Simmechanics module and transformed into MATLAB blocks. The results of kinematic analysis were introduced to the system with Mfunctions, and the movement of the system was controlled depending on the position input. The tapping machine design is computer controlled and is a suitable solution for tapping on automation supported assembly lines.