A drive structure of a desktop robotic arm, comprising a base and a turntable, wherein the base is internally provided with a turntable drive motor and a turntable drive shaft, the turntable drive motor is drive-connected to the turntable drive shaft, the turntable drive shaft is drive-connected to the turntable, the turntable is provided with an upper arm drive motor and a forearm drive motor; the turntable drive shaft is arranged in a central area of the base; the turntable drive motor is arranged around the turntable drive shaft in a staggered manner; the turntable comprises a foundation, and the upper arm drive motor and the forearm drive motor are arranged on a back side of the foundation; wherein the drive structure further comprises a turntable deceleration assembly, the turntable drive motor being drive-connected to the turntable drive shaft through the turntable deceleration assembly; an upper arm deceleration assembly, which is drive-connected to the upper arm drive motor; and a forearm deceleration assembly, which is drive-connected to the forearm drive motor; characterized in that the turntable drive motor, the upper arm drive motor and the forearm drive motor are all servo motors with absolute value encoders; the turntable deceleration assembly comprises a turntable primary synchronous belt wheel and a turntable secondary synchronous belt wheel; one end of the turntable primary synchronous belt wheel is drive-connected to the turntable drive motor, the other end is drive-connected to one end of the turntable secondary synchronous belt wheel, and the other end of the turntable secondary synchronous belt wheel is drive-connected to the turntable drive shaft; a partition plate extending in a horizontal direction is provided in the base, the turntable primary synchronous belt wheel is arranged on a top surface of the partition plate, the turntable drive motor is arranged under a bottom surface of the partition plate, an output shaft of the turntable drive motor penetrates through the partition plate to be drive-connected to one end of the turntable primary synchronous belt wheel, and the turntable secondary synchronous belt wheel is arranged on the bottom surface of the partition plate; and the turntable drive shaft is arranged on the partition plate through a thrust bearing, the turntable drive shaft is located at a center of the partition plate. the base is internally provided with a turntable drive motor and a turntable drive shaft, the turntable drive motor is drive-connected to the turntable drive shaft, the turntable drive shaft is drive-connected to the turntable, the turntable is provided with an upper arm drive motor and a forearm drive motor; the turntable drive shaft is arranged in a central area of the base; the turntable drive motor is arranged around the turntable drive shaft in a staggered manner; the turntable comprises a foundation, and the upper arm drive motor and the forearm drive motor are arranged on a back side of the foundation; wherein the drive structure further comprises a turntable deceleration assembly, the turntable drive motor being drive-connected to the turntable drive shaft through the turntable deceleration assembly; an upper arm deceleration assembly, which is drive-connected to the upper arm drive motor; and a forearm deceleration assembly, which is drive-connected to the forearm drive motor; characterized in that the turntable drive motor, the upper arm drive motor and the forearm drive motor are all servo motors with absolute value encoders; the turntable deceleration assembly comprises a turntable primary synchronous belt wheel and a turntable secondary synchronous belt wheel; one end of the turntable primary synchronous belt wheel is drive-connected to the turntable drive motor, the other end is drive-connected to one end of the turntable secondary synchronous belt wheel, and the other end of the turntable secondary synchronous belt wheel is drive-connected to the turntable drive shaft; a partition plate extending in a horizontal direction is provided in the base, the turntable primary synchronous belt wheel is arranged on a top surface of the partition plate, the turntable drive motor is arranged under a bottom surface of the partition plate, an output shaft of the turntable drive motor penetrates through the partition plate to be drive-connected to one end of the turntable primary synchronous belt wheel, and the turntable secondary synchronous belt wheel is arranged on the bottom surface of the partition plate; and the turntable drive shaft is arranged on the partition plate through a thrust bearing, the turntable drive shaft is located at a center of the partition plate.