Robot artificial limbs has six degrees of freedom. elbow tilting mechanism is driven by a through type linear motor. To determine the elbow installation structure of driven by linear motor, this paper uses the optimization design method, to determine the structure design of the optimization variables, the structure of the motion mathematical model is established, design constraints and objective function is constructed, the comprehensive optimal solutions is gotten by the optimization-algorithm of compound form. Finally, the optimization results is exported and the kinematic simulation graphics is drawed. Considers various factors, From the motor installation space, motor drive efficiency, forelimbs movement range to driving moment , obtains the optimal solution and proves the rationality of the design.

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