The invention discloses a distributed multi-movement mechanical arm collaborative carrying method for optimizing energy and operation degree. According to the method, the energy and the operation degree can be optimized at the same time, and the control quantity for the optimal energy and the maximum operation degree is obtained in a convex optimization mode. According to the specific scheme, a kinematics model of a single-movement mechanical arm is established; according to the kinematics model of the single-movement mechanical arm, an optimization objective and a constraint condition are established, wherein according to the optimization objective, the result of subtracting the operation degree from the sum of the moving platform movement energy and the joint movement energy of the single-movement mechanical arm is the minimum, and according to the constraint condition, a distributed leader-follower mode is adopted, one of the plurality of single-movement mechanical arms is selectedas a virtual leader, each single-movement mechanical arm carries out distributed column formation on the tail ends of the plurality of single-movement mechanical arms only according to the informationof the neighbor single-movement mechanical arm; and the control quantity of the single-movement mechanical arm is solved and obtained according to the optimization objective and the constraint condition, and the single-movement mechanical arm is controlled by adopting the control quantity.