Manipulator robots are commonly used for industrial applications such as to move, to lift and to manipulate
workpieces. The robots are widely used in various industries. Then, the understanding about the robots become
important things for engineering students especially for mechatronics students. The students can study about
manipulator robots by using a prototype of manipulator robot. Therefore, a prototype of manipulator robot is the main result of this research. The prototype of manipulator robot can be used as a teaching tool in the Mechatronics Laboratory. The robot has a complete kinematics and dynamics analysis. The purposes of this research are (1) to formulate the rotation, homogenous transformation, and position matrixes of the robot, (2) to design the mechanical, electrical and control of the robot, and (3) to make a prototype of manipulator robot. The robot is equipped with an end effector. Then, the robot has a 3 Degree of Freedoms (DOFs) in its body and 2 DOFs in its end effector. A dynamixel AX-12A and a servo motor were used as the actuators of the robot. Then, an Arduino Mega was used as the controler of the robot. As the result of this research, the prototype of manipulator robot had been made based on the formulation and design. The robot could work well in lifting and moving a sample workpiece from a coordinate (x1,y1) to other coordinate (x2, y2).