This thesis explores the possibility of using mechanical control in the design of a complex end effector. A design methodology is developed and demonstrated. The main goal of this methodology is to maximize reversible steps to direct the design. By attempting to obtain as much mechanical control as possible, several mechanisms are developed which could be used in applications where control of multiple operations by one motor is desired. Along with the demonstration of the design methodology with an end effector design, the application of this methodology to cigarette packaging machines is discussed. / Master of Science