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本研究采用高精度的数学分析方法，对机器人手臂进行动、静特性分析．在此基础上建立机器人手臂优化设计的目标函数．并采取迭代重分析次数最少、搜索最快、效率最高的优化方法，对机器人手臂进行最优设计．通过对典型手臂的设计计算，验证了该方法的正确性和实用性．其设计结果既提高了机器人手臂的刚度，又减轻了重量，达到了预期目的．
In this study, high-precision mathematical analysis method, the robot arm dynamic and static characteristics analysis. Based on this, the objective function of robotic arm optimization design is established. The optimization method of least repetition analysis, fastest searching and highest efficiency is adopted to optimize the robot arm. Through the design and calculation of a typical arm, the correctness and practicability of the method are verified. The design results not only improve the rigidity of the robot arm, but also reduce the weight, to achieve the desired purpose.