Frugal innovation, an innovation philosophy encapsulating a significant reduction of costs and focus on core functionality of products is used by companies across the globe to reach expanded markets. Nevertheless, manufacturing processes seem to have largely been excluded from frugal innovation applications. Reconfigurable manufacturing systems offer large opportunities for increasing both the efficiency and flexibility of production systems yet have not considered manufacturing sustainability or resource-constraints. The combination of frugal and reconfigurable manufacturing into frugal, reconfigurable manufacturing systems (F-RMSs) therefore inherently offers opportunities to make frugal manufacturing viable and RMSs less wasteful. F-RMSs are explored in this paper. The opportunities inherent in their combination are explored, the exact meaning of F-RMSs delineated and criteria for its success defined. A list of core characteristics and enablers is also defined to further distinguish the F-RMS as a manufacturing system. As such the F-RMS is fully conceptualized. Subsequently, a design framework for F-RMSs is defined based on this definition and criteria. In this way F-RMS design is facilitated and its eventual implementation enabled. The framework is focused on a requirements gathering and basic design step, where advanced design and implementation guidelines are defined on a case-by-case basis. The thesis is finalized with a set of case studies where the framework is carried out at different companies to (re)design an F-RMS. The functioning of the F-RMS is thereby validated, with the opportunities inherent in their combination recognized in the practical designs created.