A manipulator model for use in a design process of the manipulator mechanics is shown in this paper. The target is to minimize vibration and design appropriate accuracy in application. The focus is to model manipulator components and merge them in a manipulator model. This approach is applied to a six degree of freedom serial kinematic robot with rotational joints. The proposed model uses the Floating Frame of Reference approach for modeling the structural parts of the manipulator. The stiffness modeling of bearings is introduced. Electric drives generate the motion of the rotational joints, which is transported to the rotational joint via a drivetrain. A drivetrain model containing appropriate models of gearboxes, belt drives, shafts and toothed gears is derived. The required electric power is transmitted by the cabling of the manipulator. An approach of cable stiffness is introduced to consider the contribution to the manipulator system dynamics. The influence of the connection of each component is presented by a bolted joint approach. Finally, the component-oriented total manipulator model is validated with a measurement by dynamic excitation.