ABSTRACT
The design considerations involve knowledge of statics, dynamics, computations, cybernetics, biological and sensing. Nowadays, a robot functions in almost each eld of life. A robot may be used to serve the purpose of an industry, civic sanitation, music and dangerous and hazardous activities. The function of an industrial robot may be in the eld of material handling, welding, machine loading, painting, assembly, inspection and humanoid. Its reach may be of few metres, payload in many 10 kg, speed in few m/s and
accuracy in ±0.01 mm. Humanoid functions approximate the performance of human in a task.
