In　order　to　reveal　the　coordination　relationship　between　swivel　angle,　position　and　posture　of　the　end　of　the　human　arm,　and　to　realize　the　robot＇s　deep　human-like　motion　planning,　the　motion　pattern　of　the　human　arm　reaching　point　movement　was　studied.　The　arrangement　and　combination　of　the　movement　primitives　of　the　human　arm　were　defined　as　the　motion　pattern　of　the　human　arm　reaching　point　movement.　The　experimental　data　collection　and　processing　of　3240　human　arm　reaching　point　were　carried　out,　and　the　influence　of　the　movement　phases　and　the　region　of　the　reaching　point　on　the　motion　pattern　was　analyzed.　Compound　constraint　similarity,　an　index　of　motion　pattern　similarity　based　on　constraint　of　primitive　type,　order　change,　frequency　of　motion　pattern　and　frequency　of　connection　mode　of　primitive,　was　proposed,　and　the　optimal　motion　pattern　of　human　arm　reaching　point　was　optimized.　Based　on　this　motion　pattern,　the　reaching　point　movement　of　the　human　arm　is　reproduced　by　using　a　7-DOF　anthropomorphic　robotic　arms.　©　2021　Journal　of　Mechanical　Engineering.