The work is devoted to the study of individual aspects of the design and production of mechanisms intended to perform individual robotic functions of movement, load transfer, and object gripping. At present, the main problem of drives in the mechanics of the operation of the bending mechanism of the moving elements of an automatic manipulator remains the problem of increased vibration when working at high frequencies. An important problem remains the determination of increased vibration during the operation of structural mechanisms in the process of CAD digital modeling in order to identify the points of maximum stress of structural elements for the further elimination of the identified problems using balancing methods or with the help of damping mechanisms. Determination of vibration levels in the design process indicates the search for innovative solutions for the design of key functional elements of humanoid robots to solve the problems of creating industrial prototypes. A search is underway for a solution to the problem of reducing the error in mathematical modeling of calculations of external loads of amplitude-phase-frequency characteristics in CAD programs for analyzing external loads on deformations, stresses and structural performance of an object under real operating scenarios.