In order to make the intersecting seam submerged arc welding robot have better performance in kinematics and dynamics, by taken both characteristics of mechanical structure and dynamic performance into consideration, the robot was designed with optimization in using a bottom-up design approach. The three-dimensional (3-D) modeling was completed by using software UG, and every step was followed by the simulation analysis of the ADAMS software. The simulation results show that the method has improved the overall performance of the system and provided a reference for the optimized design of structures of other related robots and driving devices.