To conduct an accurate analysis with a less amount of computation.

This design and analysis supporting device is used in designing and analyzing a mechanical system and control system of the industrial articulated robot and is equipped with a modeling processing means which makes modeling of the robot using a rigid link system where existence of a flexible constituent member represented by a speed reducer is taken into consideration and processes the manipulation of the motion equation of the system in accordance with the algorithm based on the Neuton Euler method, a mechanism system parameter adjusting means to set and adjust the parameters of the robot mechanism system, a control system parameter adjusting means to set and adjust the parameters of the control system computed at each joint, and a simulation means to execute the motion analysis of the robot from the set parameters of the mechanism system and control system and the formula manipulated through modeling.