The arm is a key component of the humanoid massage robot system. On the basis of in-depth study on massage working mechanism of robot arm, a three dimensional parametric model is structured using SolidWorks. Through data conversion technology, the model is imported into ADAMS, and follow-up constraints and loads are added, with which the kinematics analysis on shoulder, upper arm and wrist joint are completed. It lays a solid foundation for the in-depth study on robot arm of massage working mechanism and the practical application. It can realize the prediction of the massage arm performance on the design phase, simplify the design process and shorten the cycle of the design as well as improve the design quality.