The book "Mechanism Design for Robotics" offers a comprehensive collection of contributions presented during the 4th IFToMM Symposium on Mechanism Design for Robotics held in Udine, Italy. The conference took place from September 11 to 13, 2018, and brings together current advancements in mechanism design and their applications in robotics. Topics covered include, among others, the design of mechanisms, the mechanics of robots, parallel manipulators, actuators and their control, as well as innovative mechanisms and their industrial applications. This specialized book is aimed at students, researchers, and engineers involved in mechanisms, machines, and robotics, providing valuable insights into the latest developments in this field.