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EUCOMES 2012 has been the fourth event of the series for EUCOMES (European Conference on Mechanism Science).EUCOMES was started as a conference initiative mainly for the European community working in Machine and Mechanism Science in order to facilitate aggregation and sharing interests for a better collaboration and activity visibility mainly but not only within European frames.The series was started in 2006 and the previous EUCOMES conferences were successfully held in Innsbruck,Austria (2006),Cassino,Italy (2008),and Cluj-Napoca,Romania (2010).EUCOMES 2012 was held in Santander,Spain from 18 to 22 September 2012.EUCOMES 2012 was organized by the University of Cantabria under the patronage of IFToMM,the Intational Federation for the Promotion of Mechanism and Machine Science.rnThe EUCOMES 2012 collected the most recent research results in the mechanism science,intended to reinforce and improve mechanical systems in a variety of applications in daily life and industry.The issues addressed were on Theoretical Kinematics,Computational Kinematics,Mechanism Design,Mechanical Transmissions,Linkages and Manipulators,Mechanisms for Biomechanics,Mechanics of Robots,Dynamics of Multi-Body Systems,Control Issues of Mechanical Systems,Novel Designs,Teaching Methods,History of Mechanism Science and Industrial and Non-Industrial Applications.