A rapid prototyping system using a precision robotic manipulator has been developed. The system is comprised of a latest personal computer (Pentium II, 300 MHz, 128 MB RAM and 5 GB hard disk capacity), interfacing system (PS-23 indexer, KS-drives and servomotors), a four degrees of freedom precision manipulator and a ball nosed end milling equipment. The hardware is integrated with the AutoSurf (CAD software), which is used in designing engineering models, section cut the surface models and changing graphic file into DXF files (neutral format files). The AutoLISP (AutoSurf programming language) has been used to simulate the additive prototyping process. The hardware is also linked with the self-developed CAM programs for data processing and motion control. With the above hardware and software configuration, subtractive prototyping models have been produced successfully. Simple additive prototyping process was also simulated graphically in AutoSurf environment. The CAM programs were also tested to be fine with the additive prototyping models’ data files. Generally, the rapid prototyping system using the precision robotic manipulator has the advantage of being cheaper, effective, time and space saving, with dual purposes (subtractive and additive processes) and it is an all in one system.