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The article deals with the development of the construction of a second generation robotic manipulator designed on a modular principle. The manipulator consists of 6 separate rotary modules interconnected by passive members of the structure. In previous generations of the module, the high weight of the overall assembly, which limited the movement properties, proved to be a problem. Modifications to the structure no longer allowed for further weight reduction. Therefore, a change was made to the materials used for the passive members of the structure. The aluminum alloy was replaced by a continuous carbon fiber reinforced composite produced by additive technology. Modeling and simulation in CAD software was used in the modification of passive members, which was necessary in order to be able to design and manufacture composite parts.