Abstract: Because of the design of a manipulator was one the important issues in the field of multi-joint robots

based on the theory of the physical model of the solution space

the design of the planar 6-DOF manipulators was discussed. Analyzing the features of the design of 6-Dof multi-joint robot with small load

it proposed a method which is from the task of the end work load to put out the driving force and power required for each bar to select the driving components and design the mechanism. Mathematical models of forward and inverse solutions were established to resolve the anti-kinematic analytical solution problem by Jacobi matrix and the velocity of each joint with multi-joint robot was obtained. On the basis of selected speed

it calculated the torque and selected the motors and reducers with the considering of the cost-effective. According to the dimensions of the motors and reducers

body shape was designed from the end of the multi-joint robot. The design example proved that the robot possesses an better kinematic characteristics and provided a simple and useful way for the design of the multi-joint robots.