I am designing a 6-axis robot. Its name is Kuka KR 30-3.
In case someone else wondering the same: simulating a whole robot is easiest to do in MCD where you can quickly define movement and time operations as you wish. Motion Simulation is intended for more detailed simulation which includes friction for example and much more specific material features etc etc.
Simulating a robot = MCD
Simulating a single arm or joint of a robot = Motion Simulation