In this research, a programmable "Pick-and-place/Painting" mechanism, used in epoxy powder coating process on "HAWLE" valves, has been considered. This automatic 3-DOF "RRP" mechanism, called "DAP", is reckoned as a two-purpose simple industrial robot, due to its variety in Hawle valve sizes and capability of sequence variations of each operation cycle to reach minimum power loss at the least possible time. Difficult, repeated and intolerable operations with desirable accuracy and decreasing the need to human presence in dangerous and contaminated environments, are of most important prominent specifications of such robot. What has been considered within the investigation course, mainly involves different procedures of designing, static and dynamic analysing, movement simulating, manufacturing and controlling of "DAP" and optimizing air flow rate in its pneumatic circuit. Then in continuation, other phases were considered such as comparing the results of two precise control methods, presenting and executing approaches to increase human interface facility with mechanism, etc. The conclusions of this research, show system behaviour conformity with results of computed analyses and evident decrease in lead time and production expences to eliminate the need of some industries from technical and economic points of view. Therefore, the application development possibility of such a system is provided in other instances like color coating on flat or curved surfaces, billet or slab marking and simple welding processes in various conditions. That instances have been studied and investigated with attention to modify the power feeding and actuating systems and use robust controllers, after previous desired results