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In view of the current PMSM control technology, in the process of restraining PMSM torque fluctuation, it is easy to be affected by flux fluctuation, which leads to the small range of output winding current and poor effect of PMSM torque ripple suppression. This paper proposes a PMSM torque ripple suppression technology for industrial robot based on ANSYS. By analyzing the mechanical arm modal structure and static model of industrial robot, the transmission device of cycloid pin wheel reducer with closed crank differential gear train is designed, and the industrial robot rotation and linear lifting motion are realized by using wrist drive structure. The torque fluctuation inertia and torque of PMSM are analyzed. According to the working process of PMSM, the stable AC current is provided for PMSM. By constructing the mathematical model of PMSM and using the macro command of ANSYS finite element analysis software, the direction of flux vector and the synchronous rotation coordinate system of stator are determined. The electromagnetic torque, flux linkage and rotation torque of PMSM motor are calculated. Combined with the torque equation, the fluctuation is suppressed. The load angle is introduced to improve the motor performance, and the torque fluctuation is suppressed. The experimental results show that the maximum output winding current is 24A and the minimum is -22A after the PMSM torque ripple suppression technology based on ANSYS, which is consistent with the ideal output results. It can effectively increase the output winding current range and has a good PMSM torque ripple suppression effect.