A first estimate of your parts’ masses can be obtained by assuming some reasonable shapes and size for all the parts and choosing approriate materials. Then caculate the volume of each part and multipy its volume by material’s mass density (not weight density ) to obtain a first approximation of its mass . these mass values can then be used in Newton’s equation.
How will we know whether our chosen sizes and shapes of links are even acceptable, let alone optimal ?unfortunately , we will not know untill we have carried the computations all the way through a complete stress and deflection analysis of the parts. It it often the case ,especially with long , thin elements such as shafts or slender links , that the deflections of the parts, redesign them ,and repeat the force ,stress ,and deflection analysis . design is , unavoidably ,an iterative process .
 It is also worth nothingthat ,unlike a static force situation in which a failed design might be fixed by adding more mass to the part to strenthen it ,to do so in a dynamic force situation can have a deleterious effect . more mass with the same acceleration will generate even higher forces and thus higher stresses ! the machine desiger often need to remove mass (in the right places) form parts in order to reduce the stesses and deflections due to F=ma, thus the designer needs to have a good understanding of both material properties and stess and deflection analysis to properlyshape and size parts for minimum mass while maximzing the strength and stiffness needed to withstand the dynamic forces.
 One of the primary considerations in designing any machine or strucre is that the strength must be sufficiently greater than the stress to assure both safety and reliability. To assure that mechanical parts do not fail in service ,it is necessary to learn why they sometimes do fail. Then we shall be able to relate the stresses with the strenths to achieve safety .
 Ideally, in designing any machine element,the engineer should have at his disposal should have been made on speciments having the same heat treatment ,surface roughness ,and size as the element he prosses to design ;and the tests should be made under exactly the same loading conditions as the part will experience in service . this means that ,if the part is to experience a bending and torsion,it should be tested under combined bending and torsion. Such tests will provide very useful and precise information . they tell the engineer what factor of safety to use and what the reliability is for a given service life .whenever such data are available for design purposes,the engineer can be assure that he is doing the best justified if failure of the part may endanger human life ,or if the part is manufactured in sufficiently large quantities. Automobiles and refrigrerators, for example, have very good reliabilities because the parts are made in such large quantities that they can be thoroughly tested in advance of manufacture , the cost of making these is very low when it is pided by the total number of parts manufactrued. You can now appreciate the following four design categories :
(1)failure of the part would endanger human life ,or the part ismade in extremely large quantities ;consequently, an elaborate testingprogram is justified during design .
  (2)the part is made in large enough quantities so that a moderate serues of tests is feasible. (3)The part is made in such small quantities that testing is not justified at all ; or the design must be completed so rapidlly that there is not enough time for testing.
  (4) The part has already been designed, manufactured, and tested and found to be unsatisfactory. Analysis is required to understand why the part is unsatisfactory and what to do to improve it .
 It is with the last three categories that we shall be mostly concerned.this means that the designer will usually have only published values of yield strenth , ultimate strength,and percentage elongation . with this meager information the engieer is expected to design against static and dynamic loads, biaxial and triaxial stress states , high and low temperatures,and large and small parts! The data usually available for design have been obtained from the simple tension test , where the load was applied gradually and the strain given time to develop. Yet these same data must be used in designing parts with complicated dynamic loads applied thousands of times per minute .no wonder machine parts sometimes fail. 机械传动和动力学英文文献和中文翻译(2):http://www.751com.cn/fanyi/lunwen_34671.html