In this thesis, the topic "Finite element analysis of robotic arm for CANDU steam generator tube inspection" was presented. In the introductory part, the principle of operation of nuclear power plants is presented in general, with an emphasis on the CANDU type. The operation of steam generators and the principle of their testing are briefly explained. At the end of the introductory part, the Eddy current method is presented, which is one of the non-destructive testing methods used in testing assisted by this robot. After that, the determination of input parameters and FEM analysis settings and the difference between linear and nonlinear analysis are explained. The procedures for preparing the model for simulation, material selection, contact types, mesh setup and its settings, and the simulation setup procedure are described. In the paper, the FEM analysis of the robotic arm was further performed on the basis of the test model of the manipulator, where the experimental results were compared with the results obtained by numerical analysis. Verification of using the second option for the screw, as the verification of used elements, were performed. Finally, FEM analysis and optimisation of the robotic arm on the existing designed solution was done, followed by the detailed simulations and the results of the analysis and the optimization process as well as their explanations. The analysis of the manipulator coverage on the given tube sheet of the steam generator was presented as well.