A nursing robot is designed to help the elderly and patients who cannot take care of themselves. The robot＇s moving platform and the control system use an industrial computer. With the software SolidWorks, a prototype is modeled, assembled and interference-checked. The soft of ADAMS is used to simulate and optimize the motion of the robot mechanism. The goal of optimization is to minimize the maximum value of both angular velocity of the robot＇s thumb and output torque of the arm. With the optimized mechanism size, the robot＇s mechanical performance is greatly improved.%针对自理困难的家居老人和病人的需要，设计了一款护士机器人。该机器人移动平台和机械系统的控制系统采用基于工控机的运动控制方案。运用三维设计软件Solid Works对该机器人的机械系统进行了三维建模、装配以及干涉检查。分别以操作手的拇指转动角速度和大臂轴输出转矩最大值的最小化为优化目标，利用ADAMS软件对机器人操作手机构和手臂机构进行了运动参数仿真优化。结果表明，优化后的构件尺寸极大地改善了护士机器人的机械性能。
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