The invention relates to a mechanical arm kinematics formal analysis method. The method comprises the steps of 1, determining structural parameters of a mechanical arm mechanism; 2, using high-order logical language for building a mechanical arm kinematics logical model; 3, using a logical formula for describing kinematics constraints or attributes needing to be verified; 4, enabling the mechanical arm mechanism kinematics logical model and the kinematics constraints or attributes needing to be verified to form a logical proposition; 5, utilizing a logical reasoning engine for proving whether the logical proposition is true or not; if the logical proposition is true, it represents that the model meets the kinematics constraints or have the attributes; if not, it represents that the model does not meet the kinematics constraints or does not have the attributes. According to formal verification, on the basis of system formal specifications or attributes, the correctness of the system is verified by using the mathematical method, and the verified attributes are precise and complete.