A　novel　motion　planning　method　is　proposed　to　generate　human-like　motion　for　anthropomorphic　robot　arms.　Its　highlight　is　to　consider　the　robot　arm　to　be　human-like　not　only　in　its　configuration　but　also　in　its　motion　patterns.　To　achieve　this,　the　intrinsic　mechanisms　of　human　arm　motion　generation　are　transferred　to　robot　motion　planning.　First,　human　arm　motion　is　modeled　using　human　arm　motion　primitives.　The　mechanisms　of　human　arm　motion　generation　are　dissected　from　a　large　number　of　motion　samples,　reflected　in　the　types,　sequencing　and　quantification　rules/laws　of　the　primitives.　Next,　the　human　arm　motion　patterns　are　studied　based　on　primitive　chains.　Finally,　a　new　motion　planning　method　is　built　that　autonomously　performs　motion　pattern　decisions,　motion　time　allocation,　and　joint　trajectory　generation.　The　proposed　method　is　validated　by　a　motion　planning　app　and　a　robot　simulation.