In this paper, a signal acquisition system was designed and developed for the movements of upper limbs of nonhuman primates. The system included a behavior-training unit of upper limbs and a myoelectric signal-acquisition unit. Two daily behaviors of feeding and drinking were employed to stimulate the motions of animals’ upper limbs for the convenience of the behavior training and signal acquisition. The feasibility of the training system was confirmed by the preliminary experiments on monkeys. Compared with the traditional systems, the system proposed in this study was more convenient for the signal acquisition of the arms of animals, and more suitable for nonhuman primates with different sizes.