One of the most frequent cause of limb disabilities worldwide is stroke. In order to achieve high recoverability, stroke patients require repetitive and consistent rehabilitation treatment. However, the increasing number of stroke patients with limited number of therapists and transportation problem among patients from rural places limit the accessibility to have better treatment. Hence, it is important to have a Rehabilitation Robot Devices (RRDs) to minimize the problems. This research is aimed to design an upper limb rehabilitation robot device that is portable and adjustable. In order to ensure that the robot arm design achieve the desired movement, CATIA V5R22 was used to simulate the design with a human builder. Motion analysis in SolidWork 2018 was used to investigate the angular displacement of the robot arm link. The simulation showed that, the robot arm design corresponds with the Malaysian anthropometry dimensions. The motion analysis showed that, the movement pattern of the robot arm achieved the desired angle of movement during rehabilitation process with the wrist extension recorded the highest time cycle which is 16 seconds for 45 degrees of extension.