The invention relates to the field of robot rigidity optimization design, in particular to an industrial robot complete machine rigidity optimization method based on a finite element technology, whichcomprises the following specific steps: s1, carrying out finite element modeling on an initial model; s2, carrying out substructure division; s3, adjusting sub-structure rigidity parameters; s4, calculating the rigidity variation of the complete machine; s5, judging whether the design is reasonable or not; s6, optimizing the structure. A finite element means is utilized to establish a complete machine model to analyze the design rationality of the complete machine rigidity and the part rigidity, the analysis efficiency is greatly improved, and the robot design and development period is shortened; the design problem and defects are exposed in advance through the finite element technology and the normalization method, the fatality problem occurring in the prototype stage is avoided, the development cost is reduced, the method can be designed and developed with any industrial robot, and the lightweight design of the whole robot can be guaranteed while the rigidity level of the whole robot is improved.