A method for the structural design of a cam-translating roller follower mechanism with the minimum volume and least maximum pressure angle is presented. The design is formulated as a two-objective optimization problem subject to multiple constraints. The hierarchical approach for handling multi-objective optimization and application of the Chebychev approximation scheme for solving the nested maximization-minimization problem are discussed. The method presents a forthright approach to the complex optimal structural design of a cam-follower mechanism, and significantly improves present cam-follower mechanism design and optimization methods. A design example is used to illustrate the approach.