Mechanism Design for Robotic Systems provides theoretical fundamentals, procedures, and an outline of potential solutions for mechanism design applied to robotic systems, filling the gap from conceptual design to robot manufacturing, with both theoretical background and practical suggestions for solutions to achieve a functional robot from scratch. This book is a helpful resource for roboticists and researchers who need to design a new robot from the ground up, and to analyze existing solutions, providing tools and methods to identify optimal architecture, hardware, and design tips according to different methods. In addition, the book can be a reference for formation of robot designers as used in university teaching and professional specialization. - Identifies the main requirements, challenges, and solutions behind robotic applications - Provides knowledge on design to robotics researchers and professionals with a limited or no mechanical engineering background - Presents robotics-oriented mechanism science, discussion of robotic applications, and methods for mechanical design of robotic structures