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With the development of automation technology, industrial robots are widely used in various fields, in order to improve the overall performance of industrial robots and reduce their static and dynamic performance errors, a topology optimization method that integrally took into account the flexibilities of connecting rods and joints of industrial robots was proposed. Combining robot dynamics and topology optimization, the multi-objective topology optimization function model of industrial robot forearm was established by linear weighted sum method based on the solid isotropic material with penalization (SIMP), based on the theory of flexible multi-body dynamics, the simulation model of robot rigid-flexible coupling dynamics with joints flexibilities and connecting rods flexibilities was established by using the finite element software and multi-body dynamics software, and the load spectra of the robot forearm was obtained in the extreme working conditions. Finally, the weight coefficients of each sub-objective in the optimization objective function were determined by using hierarchical analysis and the function was solved. The optimization result showed that the stiffnesses and natural frequencies of the optimized robot forearm were improved, the robot forearm was lightened by 18.71% from 20.233kg to 16.477kg. The robot model was reconstructed by virtual prototype technology and its whole was analyzed, and the result showed that the maximum deformation displacement of the robot was decreased from 0.208mm to 0.188mm under the maximum load, and the static deformation error was reduced by 9.62%, the dynamic localization error was decreased from 0.777mm to 0.687mm, and the localization accuracy was improved by 11.58%. The above topology optimization method provided an effective theoretical reference for improving the overall static-dynamic performance of industrial robots.