The basics of the theory of mechanisms and machines are presented. Calculation algorithms are presented in graphical and analytical forms for designing mechanisms and machines. Methods of designing structural and kinematic diagrams of the mechanism according to basic and additional conditions, as well as force analysis of the mechanism, taking into account the geometry of the masses of the links when moving with acceleration, are given. Dynamics of machines with mechanical vibration protection is considered. The method of gear design and determination of their quality parameters is given. Analysis of mechanisms with intermittent movement of the output link and synthesis of cam mechanisms have been developed. Kinematic study of transmission mechanisms is performed according to their design. Oscillatory processes in mechanisms are presented taking into account balancing and vibration protection. A kinematic and dynamic model of the manipulator has been developed.