Proceedings of the Design Engineering Technical Conference andComputers and Information in Engineering Conference, September28-October 2, 2004, Salt Lake City, Utah. Parts A&B-Collectionof 172 full-length, peer-reviewed papers on the following topics:Mechanism Synthesis, Components and Applications; Robotics: Theory;Theoretical and Computational Kinematics; Robotics: Applications;Dynamics of Machines; Compliant Mechanisms; Medical Devices andSystems; Education in Mechanisms and Robotics and Micro andNano-scale Electromechanical Systems (MEMS, NEMS).