This book collects the most recent advances in mechanism science and machine theory with application to engineering. It contains selected peer-reviewed papers of the sixth International Conference on Mechanism Science, held in Nantes, France, 20-23 September 2016, covering topics on mechanism design and synthesis, mechanics of robots, mechanism analysis, parallel manipulators, tensegrity mechanisms, cable mechanisms, control issues in mechanical systems, history of mechanisms, mechanisms for biomechanics and surgery and industrial and nonindustrial applications.

Preface.- Mechanics of robots 1.- Calculation of the ball raceway interferences due to manufacturing errors and their influence on the friction moment in four-contact-point slewing bearings, by Iker Heras, Josu Aguirrebeitia and Mikel Abasolo.- Meshing Analysis for TA Worm Drive, by Yaping Zhao.- Trade-Off for Space Mechanisms Actuator ¿Technology via a General Purpose Language and ¿Domain Specific Simulations Framework, by Manolo Omiciuolo, Kristin Paetzold, Matthias Baader, Markus Thiels and Klaus Peter Foerster.- Tolerance Analysis of Serial Manipulators with Decoupled and Non-decoupled Dynamics, by Jiali Xu, Jean-Paul Le Baron and Vigen Arakelian.- Mechanism Analysis 1.- Mobility analysis of coupler-driven planar four-bar linkages, by Shaoping Bai.- On the dynamic equivalence of planar mechanisms, an inertia decomposition method, by Jan De Jong, Johannes Van Dijk and Just Herder.- Determination of a Rigid Body Orientation by Means of Indirect Measurements, by Irina Gavrilovich, Sébastien Krut, Marc Gouttefarde and François Pierrot .- Algebraic Analysis of a New Variable-DOF 7R Mechanism, by Martin Pfurner and Xianwen Kong.- Overconstrained Single Loop Four Link Mechanisms with Revolute and Prismatic Joints, by Martin Pfurner, Thomas Stigger and Manfred L. Husty.- Parallel manipulators 1.- Planar Stewart Gough platforms with quadratic singularity surface, by Bernd Aigner and Georg Nawratil.- Forward Kinematic Analysis of the 3-RPRS Parallel Manipulator, by Anirban Nag, Santhakumar Mohan and Sandipan Bandyopadhyay.- Computing the safe working zone of a 3-RRS parallel manipulator, by Dhruvesh Patel, Rohit Kalla, Sandipan Bandyopadhyay and Gökhan Kiper.- Comparison of 3-RPS and 3-SPR Parallel Manipulators based on Kinematic Performance, by Abhilash Nayak, Latifah Nurahmi, Philippe Wenger and Stéphane Caro.- On the workspace representation and determination of spherical parallel robotic manipulators, by Khaled Arrouk, Belhassen-Chedli Bouzgarrou and Grigore Gogu.- Tensegrity mechanisms.- Compliant Gripper Based on a Multistable Tensegrity Structure, by Susanne Sumi, Valter Böhm, Florian Schale and Klaus Zimmermann.- Compliant Multistable Tensegrity Structures with Simple Topologies, by Valter Böhm, Susanne Sumi, Tobias Kaufhold and Klaus Zimmermann.- Toward the control of tensegrity mechanisms for variable stiffness applications: a case study, by Quentin Boehler, Salih Abdelaziz, Marc Vedrines, Philippe Poignet and Pierre Renaud .- Kinematic Analysis of a Continuum Parallel Robot, by Oscar Altuzarra, Mikel Diez, Javier Corral, Gennaro Teoli and Marco Ceccarelli.- Mechanics of robots 2.- A New Formulation for Spatial Revolute Joints with Clearance, by Filipe Marques, Fernando Isaac, Nuno Dourado and Paulo Flores.- Efficiency Assessment in Spur Gears with Shifting and Profile Modifications, by Alberto Diez-Ibarbia, Alfonso Fernandez-Del-Rincon, Miguel Iglesias, Ana De-Juan, Pablo Garcia and Fernando Viadero.- Motion design considering moment of inertia, by Sören Schulze, Carsten Teichgräber and Maik Berger.- Recent Developments on Cylindrical Contact Force Models with Realistic Properties, by Fernando Isaac, Filipe Marques, Nuno Dourado and Paulo Flores.- On the Determination of the Meshing Stiffness and the Load Sharing of Spur Gears, by José I. Pedrero, Miguel Pleguezuelos and Miryam B. Sánchez.- Industrial and non-industrial applications 1.- Winmecc: Software for the Analysis of Planar Mechanisms, by Antonio Ortiz, Juan Antonio Cabrera, Fernando Nadal and Alex Bataller.- Manipulator Motion Planning in Redundant Robotic System for Fiber Placement Process, by Jiuchun Gao, Anatol Pashkevich and Stéphane Caro.- Free and Open Source Software Applications for Education of TMM Discipline in Bauman University, by