A　new　screening　method　is　proposed　in　configuring　humanoid　robotic　arm,　and　a　series　configuration　which　is　most　consistent　with　the　human　arm　characteristics　is　constructed　The　morement　mechamsm　of　human　arm　from　the　point　of　view　of　human　anatomy　is　analyzed,　and　6　types　of　humanoid　robotic　arm　combined　with　the　mechanism　of　anthropometry　and　robotics　are　constructed.　The　global　relative　manipulability　index　is　put　forward,　and　the　dexterity　of　different　types　of　humanoid　robotic　arm　with　this　index　are　analyzed.　The　visualization　method　is　used　to　plot　the　image　of　dexterous　performance　distribution.　The　workspaces　of　human　arm　are　analyzed,　and　different　types　of　humanoid　robotic　arm＇s　workspace　with　it　are　contrasted,　thereby　screening　the　best　type　of　humanoid　robotic　arm.　The　results　lay　the　foundation　for　humanoid　robotic　arm　design　and　follow-up　study　of　motion　planning.　©　2013　Journal　of　Mechanical　Engineering.