Kinematic synthesis for a mechanical system is described as having three general phases, known as type synthesis, number synthesis and dimensional synthesis. Type synthesis matches the general characteristics of a mechanical system to the task at hand, selecting from an array of devices such as a cam-follower mechanism, linkage, gear train, a fixture or a robotic system for use in a required task. Number synthesis considers the various ways a particular device can be constructed, generally focussed on the number and features of the parts. Finally, dimensional synthesis determines the geometry and assembly of the components that form the device.