OVERVIEW OF DESIGN METHODS AND MODELS GEOMETRIC MODELS IN DESIGN SYSTEMS THEORETICAL BASIS OF THE DESIGN METHOD Formal model of hierarchical mechatronic system Aggregated dynamic realization Structure Coordinator Canonical model of coordinator Presentation of coordinating element Process of coordination Description of coordinator environment Performance of the design task of mechatronic systems Metrical characteristics of hierarchical mechatronic systems Levels of mechatronic systems Numeric positional system Measuring units of mechatronic objects Preliminary conclusions DESCRIPTION OF THE DESIGN METHOD General geometric characteristics of mechatronic objects Numerical characteristics of mechatronic objects Hierarchical geometric representation of mechatronic objects Conditional point Conditional line Conditional surface 3D Object Interconnections coordination of geometric elements of mechatronic objects Procedures of geometric design of mechatronic objects Coordinator actions with geometric elements of mechatronic objects Geometric synthesis Motion design and deformation as analysis tasks Preliminary conclusions CONCEPTUAL DESIGN OF BIOMECHATRONIC SURGICAL ROBOT SYSTEM Conceptual formal model of surgical robot system Realization of coordination - design and control - tasks Preliminary conclusions CONCEPTUAL MODEL OF BIOLOGICALLY INSPIRED ROBOT Conceptual model of dinosaur robot Robot motion design Assembly of dinosaur robot parts Preliminary conclusions HUMAN MOTON DESIGN USING HIERARCHICAL SYSTEMS METHOD Coordination task formulation Definition of human movements and deformations Computer design of human motion Algorithm of human motion design Computer design of human sitting-standing-up movements Description of the laboratory experiment Preliminary conclusions and results DESIGN AND TESTING OF ELECTRONIC CIRCUIT BOARDS Geometric construction of circuit board Stages of PCB interconnections quality testing Preliminary conclusions DESIGN AND CONTROL OF MCM CUTTING MACHINE MCM conceptual model Design tasks MCM motion design and simulation - Robwork Studio integration