In this paper, the application of rapid prototyping in fabricating nonassembly robotic systems is presented. Using the stereolithography apparatus SLA 190 of the Department of Mechanical and Aerospace Engineering of Rutgers University, and the selective laser sintering Sinterstation 2000 of DTM Corporation of Austin, TX, prototypes of mechanical joints were fabricated experimentally. The designs of these component joints were then used to fabricate the articulated structure of experimental prototypes for two robotic systems: (1) a three-legged parallel manipulator; (2) a four degree of freedom finger of a five-fingered robotic hand.