In this paper, a new method to design bar tacking machine is introduced. According to multidiscipline model design rule, mechanical, kinematic and control model of the bar tacking machine are constructed. Based on such models, a mechatronic cooperative design and simulation environment is setup by using RecurDyn and Matlab/simulink software. By analyzing the working condition of this machine and using them as the input, some working results can be got from the environment. Ideal output is reached by modifying the design schedule and parameter. By this method, designing efficiency is improved and the testing cost is reduced.