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In this research, primarily designing and manufacturing of Double Acting Pick and Place robot (DAP) mechanism, along with its kinematic and dynamic analysis aiming at elimination of human force usage in contaminated industrial environment such as coating process shops is introduced and analyzed. Simulations of the robot’s movement and control procedure via nonlinear adaptive-robust and inverse dynamic controllers are applied in order to overcome to their uncertainties. The main function of this robot is coating epoxy powder on “Hawel” gate valves at temperatures up to 200°C. The results obtained in this study can greatly fulfill the need to resolve industrial uncertainties in such combinational processes.