Abstract: In this paper,design and development of a new type of robot manipulator(155HP—1)is presented.Because there are small and narrow work space and much more obstacles in surroundings,the robot design is difficult.For collision-free the robot is designed as a redundant robot with seven DOF.Determination of each joint revolute angles is very complicated as many factors influence it.We take greatly consideration into it and get good results.A robot hand with special structure is developed for robot work,because the carried object is longer and heavy and has special drawing and loading motions.