To increase the repeat location accuracy of a 6-dof assembly robot , a method of optimization of its link length is proposed based on PSO through improving the stiffness performance. The integral mean val-ue of singular-value of force-displacement matrix on link work space is used as the quantitative index to measure the link stiffness. With the aim of its optimization, the optimization function of link length is set up and solved based on PSO. Finally, on the company independently developed KRT20-1540 assembly robot, the feasibility of the method is verified through ANASYS simulation.%为了提高6 R装配机器人的末端定位精度，从提高其刚度性能出发，提出一种基于PSO的机器人臂长组优化算法。首先，在装配机器人的静刚度模型基础上，提出末端刚度矩阵的“力-线位移矩阵”在手臂工作空间内奇异值的积分均值作为机器人末端刚度的定量评价指标，并以其为优化目标，建立机器人臂长组分配优化函数，研究利用PSO寻优算法对该优化函数求解；最后对某公司自主开发的KRT20-1540装配机器人，利用ANASYS仿真，验证了该方法的可行性。
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