Abstract: In order to achieve the comprehensive optimization of the dual-arm rescue robot’s working space, load capacity of robotic arm and speed of manipulator’s end-effector in rescue engineering, a structure parameter design method was proposed based on multi-objective functions for rescue robot to carry out comprehensive optimization. To overcome the difficulty of mathematical description of the dual-arm working space, load capacity and speed of manipulator’s end-effector, a triple integral method and manipulability function were used to establish their objective functions respectively. To optimize the three objective functions synthetically, a coupling analysis method was proposed, and the coupling relationship between the three optimization objectives was determined. Using the fuzzy analytic hierarchy process (FAHP), multiple optimization functions were linearly weighted according to the index weight to obtain a comprehensive multi-objective optimization function. Based on the comprehensive optimization function, the optimal value of the objective function was solved based on the particle swarm optimization (PSO), and the dual-arm structural parameters were obtained, so that the comprehensive performance of the dual-arm rescue robot was optimized. The simulation results show that the performance index and optimization method of the proposed dual-arm rescue robot are feasible.