Abstract: A dynamic optimization synthesis method which is suitable for multidegree-of-freedom robots is presented in this paper according to the effects of mechanismparameters of a manipulator on its dynamic property.This method is to gain theoptimal dynamic characteristics by means of computer-aided optimal design of theparameters of a manipulator mechanism meeting the needs of kinematics.After stu-dying and analyzing robot dynamics,three evaluation functions are defined in thispaper,The functions reflect robot dynamic performance from various points of view.