This thesis aims to develop a valid digital twin of the Mitsubishi RV-2AJ robot for motion performance simulation, address the need for a digital twin, perform the kinematic calculations in MATLAB and test the strength of the robot equations in different conditions without physical testing. The objective is to make a base model for future research in trajectory optimisation and dynamic modelling. The process involved mathematical simulation, collaboration tools and computer-aided design. The robot’s geometry was obtained from an open-source repository and assembled in SolidEdge using the official manufacturer's manual. The CAD assembly was exported to Onshape to define the joints and assign materials. Then it was imported into MATLAB/SimScape Multibody with the geometry preserved. The kinematics were calculated based on the Denavit-Hartenberg convention in MATLAB, and the findings were tested against a model of the robot in RoboDK simulation software.