The Brazil international was speaking at his official unveiling following his move from Manchester City at the end of the transfer window.
“Milan put forward the only concrete proposal,” he revealed. “The other clubs only made inquiries. But my desire was to play at Milan.
“They are a great club with a great tradition as well as Brazilian players. I am happy that it all went through.”
When asked about Allegri's plans for him, Robinho said: “We can play with one, two, three or four strikers.
“You need to run, sure, but you also need to run to score goals. There is Pato and Ronaldinho. Everyone can give their contribution.”