The manipulator robot is widely used because it has many advantages such as positioning accuracy, achieving good
performance, relatively low energy consumption, and lighter weight. The problem that often arises in robotic manipulators is the vibration caused by the nature of its flexibility. The purpose of this study is to modify translational and rotational moves of a manipulator robot as a prototype to be used as a tool in conducting flexible link vibration research. This study also results a vibration-measuring device that is used to measure the frequency and amplitude of acceleration using accelarometer ADXL 335. The data obtained is displayed in graphical form Fast Fourier Transform (FFT) frequency and amplitude acceleration. As a result, this study generated a prototype robot that moves in a translational and rotational. The experimental result obtained a frequency of 38.57 Hz.