In order to study the structure and the dynamic characteristic of the SCARA robot, the three dimensional (3D) model of the SCARA Robot is established by using SolidWorks software and is analyzed by ANSYS. The static analysis of the SCARA robot was carried out, the results show that the robot can satisfy the positioning accuracy and strength requirement of the impact loading. Through the modal analysis, the first eight order natural frequency and vibration mode structure were presented, and the analysis of data shows that satisfied the job requirements. In order to know every order frequency response of SCARA robot dynamic load, the harmonic response analysis was carried out, and the harmonic response changing curve of SCARA robot was obtained. The results show that the seventh order natural frequency of the SCARA robot has the biggest impact on the dynamic performance. A basis is provided for the improvement of SCARA robot and the structural design by the analysis of data in future.