Humanoid robots are complex machines that require special efforts for the design process. Usually they are complex systems whose design and construction is a challenge for researchers in several fields of science and engineering. The mechanical functionality of main components has to be clearly understood in order to design the required mechanical features. Therefore, taking advantage of the mechanism and machine theories, a functional machine can be conceived reducing the system complexity. The aim of this work has been to design a humanoid robot by resolving most of the common problems of these platforms with no-complex operation features. A humanoid robot is proposed with characteristics that can fulfil industrial and non-industrial applications. The problems and proposed solutions for the design of the robot sub-systems are presented in order to illustrate and discuss the design evolution. Kinematic and Dynamic simulations have been developed for checking the design feasibility and optimising the robot design and operation. By studying the simulation results, some specific structural characteristics have been evaluated for improving the proposed design and operation.