This book provides a comprehensive introduction to the area of robot mechanisms, primarily considering industrial manipulators and humanoid arms. The book is intended for both teaching and self-study. Emphasis is given to the fundamentals of kinematic analysis and the design of robot mechanisms. The coverage of topics is untypical. The focus is on robot kinematics. The book creates a balance between theoretical and practical aspects in the development and application of robot mechanisms, and includes the latest achievements and trends in robot science and technology.

Preface 1 Kinematics of Rigid Bodies 2 Mechanisms 3 Serial Mechanisms 4 Evaluation of Mechanisms 5 Singular Planes and Dexterous Robot Mechanisms 6 Redundant Mechanisms 7 Parallel Mechanisms 8 Robot Contact 9 Robot Grasp 10 Kinematic Model of the Human Hand Index References