The main sections of the discipline "Theory of mechanisms and machines" are briefly described, covering structural analysis and kinematic synthesis of mechanisms, their kinematic and dynamic research, as well as the synthesis of gears and the design of planetary and cam mechanisms. The content of the textbook corresponds to the course of lectures given at MSTU named after N.E. Bauman. For students of the 3rd year of mechanical engineering specialties performing a course project in the discipline "Theory of mechanisms and machines."