The Dane was on Liverpool’s staff under Jurgen Klopp between 2018 and 2023, where he helped the Reds won every trophy in the game.
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Gronnemark takes on a consultancy role, rather than joining Arsenal's staff as a fulltime member.
Gronnemark moves to Arsenal following a three-season spell with Brentford. The Bees have scored more goals from throw-ins than any other Premier League team since the start of last season.
Arsenal are yet to score from a throw-in this season.
Gronnemark has also worked for Borussia Dortmund, Ajax, FC Midtjylland, Union Saint-Gilloise and Japan’s JEF United.