Planar algebraic curves (polynomial, parametric type) are frequently required to be generated to manufacture specific geometric surface characteristics of the machine parts. Precision, accuracy, and speed are in general prime requisites. However, flexibility also becomes mandatory in today’s industry environment. A planar three degree of freedom robot is designed and fabricated with a built in forward and inverse kinematic algorithm. The robot may be programmed to generate planar enveloping curves where in the generator (tool) is an infinite line. Several examples are presented in this paper to illustrate the forward and inverse design of this particular planar robot for generation of algebraic curves.