In robot design and application the force and angle with angular speed is important so this study will model numerical simulation and discuss detail data to investigate their property. The force may increase as arm 1 angle increases whilst it may increase if angular speed increases in three freedoms. Meantime it will decrease if angular acceleration increases. It is found that with the angular speed increasing all three force may increase whilst the angular acceleration will cause its increase too in five freedoms. From these value it is observed that F1 is prior one to ensure the strength and fatigue life then F2 is second one to estimate its strength whilst F3 may be neglected. The force may increase as arm 1 angle increases whilst it may increase if angular speed increases in three freedoms. Meantime it will decrease if angular acceleration increases.