This volume contains theProceedings of the 4th IFToMM Symposium on Mechanism Design for Robotics held in Udine Italy 11-13 September 2018. It includes recent advances in the design of mechanisms and their robotic applications. It treats among others the following topics: mechanism design mechanics of robots parallel manipulators actuators and their control linkage and industrial manipulators innovative mechanisms/robots and their applications.This book can be used by students researchers and engineers in the relevant areas of mechanisms machines and robotics.