Combining the traditional Chinese-medicine theory and the modern robot technology, a new type of massage robot that can accurately locate the acupuncture points and implement the acupuncture point-matching treaatment has been proposed. A serial-parallel mechanism is adopted as the main mechanism of the massage robot that has the merits of not only compact structure and dexterous movement, but also realization of the motion decoupling from the force control of the massage mechanism. Based on the introduction of the foot massage robot system and its function, both the analysis of the mechanism and the optimal design have been completed to meet the design requirements. The kinematics model has been established. The simulation and experimental research have been carried out and verified the rationality of the design and the feasibility of the scheme.