This thesis consists of the development in all its aspects of a 6-dof anthropomorphic manipulator attachment for the RoboTO team's fleet of remote controlled mobile robots. After a brief introduction, the project requirements are discussed, including the manipulator's objectives and design constraints, followed by an overview of robotic manipulators and a discussion into alternative design solutions. These introductory chapters are followed by the mechanical design of the manipulator in SolidWorks, entailing the motor choice, selection of stock components to use in the assembly, and design of custom parts, a portion of which were designed with 3-D printing capabilities in mind. The whole manipulator assembly is divided into two distinct modules: the shoulder, a simple serial robot, and the wrist which is a spherical in nature and rather compact thanks to the presence of a differential assembly controlling two of the three axes of rotation.