Diversity is one of the inherent characteristics of every human being. This very characteristic has led humans to move toward flexible systems and deliver flexible manufacturing lines. One of the main components of flexible systems are robots, they can easily be used for different purposes with the least physical change (simply by changing the tool), and in addition to reducing the cost of production, the production speed also increases. SCARA robots are often used in assembly processes due to their high operating speed and ease of operation. In most assembly operations, for each step, a separate workstation is used. Combining these operations is not cost effective in case of low volume production. In this project, the design and construction of a SCARA robot will be discussed, which will have the capability to perform assembly and pick place operations without need of changing the hardware. After the initial design, by using the direct and inverse kinematic equations, the relationship between the motion of the robot tool point and the joint variables is obtained. By solving Lagrange equations and choosing appropriate operators, the final design is done and the robot is fabricated. Keywords: Flexible Manufacturing System, FMS, SCARA Robot, Robot kinematic, Robot Dynamic, Automation