In this work, a novel mechanized medical injection platform is modeled for automated drug delivery and phlebotomy. The objective is to design a versatile device that can administer injections at various sites on the human body while being either bed-top or desktop. The machine consists of 6 degrees-of-freedom system including an independent end effector. The design is modeled in the SolidWorks software with required specifications. Thereafter, static structural analysis is carried out for the most critical component. Furthermore, the mathematical modeling is done in MATLAB to estimate the actuator torque for the end effector.