The book "Mechanism Design for Robotics" presents the proceedings of the 5th IFToMM Symposium on Mechanism Design for Robotics, which took place from June 23 to 25, 2021, in Poitiers, France. It brings together contributions from researchers from various countries and covers all essential areas of robotics research, development, and innovation, as well as new applications and current trends. The topics addressed include theoretical and computational kinematics, mechanism design, experimental mechanics, robotic mechanics, control issues of mechanical systems, machine intelligence, innovative mechanisms and applications, connections and manipulators, micromechanisms, and the dynamics of machines and multibody systems. Due to its broad spectrum, the book serves as a valuable source of information and inspiration for researchers looking to enhance their work and gather new ideas for future developments.