The purpose of this paper is to design a linear tubular brushless DC motor. The motor dimensions are determined based on the required rating. A set of magnetic circuit models are used to calculate the basic motor characteristics and the design which has the application is selected. The static and dynamic performance of the designed motor are calculated and verified with a finite element software. Besides, the paper advance a design method, bracing to used linear bearing that made of Nylon to reduce friction and cogging thrust force. A prototype motor and driver is built to verify the performance of the motor experimentally.