In this report a new design for the arm of the humanoid robot TUlip is designed. The arm should enable TUlip to make the same movements as a human arm and therefore accomplish a chosen trajectory. In this trajectory the arm of TUlip moves to an object of approximately 0.5 kg and picks it up. In order to accomplish this trajectory the arm of TUlip is given 6 DOF’s this are more DOF’s than it used to have.
Besides the trajectory the arm needs to accomplish it also needs to be lightweight and stiff so that the position of the arm can precisely be controlled. Also there is little space in TUlip to process the