A low cost double flexible rapier loom has been developed using the crank beating and the take-up mechanisms of the shuttle loom. To get required gripper head motion, rapier driving mechanism is designed through kinematic simulation of the crank beating and the rapier driving mechanisms. To calculate the reaction forces acting at the basic mechanisms, dynamic simulation is performed using NISA DYMES. By finite element modeling for the whole parts of the basic mechanisms, important physical properties used in the simulation are obtained. Noise and vibration are measured for the basic structure to investigate causes of the variation of gripper head motion and vibration. Important factors affecting the performance of the loom are revealed in the whole process of design, manufacturing, and assembly. Considering the reaction forces obtained from the theoretical approach and experimental results, the rapier driving mechanism is revised to reduce the reaction forces. Part designs of the rapier driving mechanism are changed to reduce weight and increase stability, the manufacturing method of the pinion and the claw gears is improved, and joint assembly tolerance is maintained. To verify the improved performance of the developed basic structure, noise and vibration measurements are performed. Desired gripper head motion has been obtained, and noise and vibration have been reduced remarkably.