In order to improve the design efficiency for industrial robots, based on the functional analysis, the articulated industrial robot is divided into actuator module, rotary arm module, prone swing arm module, base platform module. There are three standard interfaces between two modules. The robot parameters were divided into three levels, the first level parameters drive the whole structure size of the robot, the second level parameters drive the structure size of every module, the third level parameters drive the structure size of every part, related parameters of robot product series were established, a transfer robot three dimensional (3D) model was designed in the end, the coordinate systems of joints were set up and D-H parameters were proposed through D-H method, which has proved the rationality and reachability of the model and provided theoretical basis for path planning and real-time control of the robot. All the users have to do when they do the robot design are to choose the appropriate product serial number and finish the module assembling according to actual working conditions, which has shortened the cycle and difficulty for industrial robots design.