Generating a defined motion is one of the fundamental tasks for a machine. By definition, a robot is a universal machine dedicated to creating motion that can be freely programmed. A large variety of mechanisms are known that are capable of creating different kinds of motion which can be characterized by the degree-of-freedom of the motion, its dynamic characteristics such as velocity and acceleration, and its accuracy. Whenever objects are moved or manipulated, the payload or strength of the machine becomes an additional topic of interest. Once a technology to achieve the desired effect is known, the technological development aims at optimizing the task in some sense, for example by increasing the payload, velocity, or accuracy. At the same time, economical factors drive the development into decreasing costs for the machine while maintaining the performance level. Therefore, there is a persistent trend in robotics to develop technical solutions that are superior in some of these aspects.