The serial manipulators have been developed for industrial applications over past few decades. Now research focus on household or domestic applications. The articulated manipulator matches the requirement of house hold applications and low cost of it makes it more suitable for these applications. The articulated manipulator can used for many house hold applications such as pick and place. There are many 4 DOF manipulator available in market for hobbyist. But the under-actuation of 4 DOF creates problem to find inverse kinematics, as there is no closed form solution for these manipulators. Here study is conducted to find inverse kinematic solution for 4 DOF The combinational method to find inverse kinematic solution is proposed. The forward kinematics is also calculated using D-H parameter method. Based on inverse and forward kinematics trajectory planning is also developed for 4 DOF manipulator. The manipulator moves in any two points in straight line within its work space. A conceptual 4 DOF manipulator design is proposed. A prototype is also developed. The research also validates the results numerically and experimentally. In future household applications can be developed using the manipulator. © 2018, Institute of Advanced Scientific Research, Inc. All right reserved.