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Despite increasing focus among scholars and practitioners on the design of product-service systems (PSS), there exists no compilation of current knowledge on the role played by small and medium-sized enterprises (SMEs) in designing such systems. Thus, this paper sets out to identify and organise the existing research and suggest questions for future research.

A systematic literature review was performed to identify and provide in-depth details on key themes in the literature addressing the design of PSS in SMEs.

This paper identifies five themes in the literature on the design of PSS in SMEs: motives, challenges, SME characteristics, methods and digitalisation. The themes are interrelated, and SME characteristics seem to be at the core as they are related to all the other themes. Gaps in the current knowledge are identified, and questions for future research are suggested.

The suggestions for future research provide a starting point for expanding the research on PSS design and devising practical support for SMEs.

The spring‐assisted gantry robots, described in this paper, were designed primarily for the rapid transfer of lightweight objects from one point to another, e.g. to pick objects from a conveyor belt and to place them in a box. The average amount of work required for pick‐and‐place operations carried out by a conventional gantry robot was decided. Springs were added to conserve the kinetic energy of the main bar, which slides in the X‐direction and the work of the same pick‐and‐place operation was decided. A theoretical study showed that when the spring constant was optimized the required motor work of the spring‐assisted robots were 42–95 percent less than the required work of the conventional robot. The conceptual robot exists in mathematical models in Matlab and SIMULINK.