There is big distance to attain 7KN between the conditions. The effective factor turn to the force is F1>F3>F2 in three freedoms with the angular speed of 10º~30º/s and of acceleration of 10º/s2. The force may increase from 4.8N to 1.5KN and 7KN with F3, F1 and F2 in five freedoms. Among them F3 is the least one and F1 is the biggest one. The effect factor turn is F2 >F1 >F3. So the F2 is important one and F1 is second while F3 is least with the angular speed of 10º~30º/s and acceleration of 10º/s2. In robot design and application the force and angle with angular speed is important so this study will model numerical simulation and discuss detail data to investigate their force. The force may increase as arm 1 angle increases whilst it may increase if angular speed increases in three freedoms. Meantime it will decrease if angular acceleration increases. It is found that with the angular speed increasing all three force may increase whilst the angular acceleration will cause its increase too in five freedoms. From these value it is observed that F2 is prior one to ensure the strength and fatigue life then F2 is second one to estimate its strength whilst F3 may be neglected. The force may increase as arm 1 angle increases whilst it may increase if angular speed increases in three freedoms. Meantime it will decrease if angular acceleration increases.