This meticulously edited collection of papers on the application of state-of-the-art computational methods to mechanical systems design is based on a NATO Advanced Research workshop held in 1997. Leading international experts treat the analysis, synthesis, optimization, and control of a broad spectrum of mechanical systems, including systems of rigid and flexible bodies that are the basic constituents of mechanisms and robotic devices, as well as multibody systems. Topics covered include kinematics, dynamics, and control of such systems, with special emphasis on modeling and simulation. The theoretical foundations of the underlying methods are covered as well as practical aspects of algorithm development, such as code parallelization and applications to specific areas.