This paper deals with several aspects of the simulation of robots in flexible manufacturing system. The simulation provides a quick computer evaluation of the motion of a robot and the interaction with machine tools and other equipment in the work cell. The on line and off line programming feature of a robot are incorporated in the simulation for use in PC computer for economic and easy usage by manufacturing personnel. The new type of robot having a closed kinematic chain are used in the simulation for spray painting, welding, deck and doors opening for manufacturing process. The design aspects of robot encompassing the analysis, synthesis and kinematic dynamic are also presented.