Aiming at the fields such as temporomandibular joint (TMJ) pathology research, test of lower jaw prosthesis and denture strength and food texture analysis, a masticatory robot on the basis of biomechanics of chewing systems was put forward. Firstly, kinematic model of jaw mechanism and the freedom of motion were analyzed. Secondly, a motion trajectory according to chew movement characteristics was given to the robot and the kinetic characteristic of masticatory robot was simulated via ADAMS. Relative parameters of linear actuators were obtained, such as displacement, speed and driving power. The results have shown that the masticatory robot is able to reproduce hunman jaw movements preferably.