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This paper introduces a development process of a manipulator that is installed to a mobile robot system and used to detect explosive ordnance and dispose it. Based on system requirements, its boundary conditions are analyzed and the minimum driving ranges and RPMs of each joint are calculated. To choose the optimum actuators including reduction ratiopsilas of the gearbox, the advanced Straete et al.psilas normalization method is used after conducting dynamic analysis. Two kinds of dynamic analyses are executed to confirm the result, one is MATLABpsilas SimMechanics and the other one is PRO-Engineerpsilas Mechanism. Finally, structural analysis is conducted to verify the robustness of the designed system.