The textbook consists of two sections, preceded by ch. 1, devoted to the problems facing this science; Section I (chap. 2-10) outlines general methods for determining the kinematic and dynamic characteristics of mechanisms, machines and machine systems, calculating mechanisms taking into account the elasticity of links, friction and wear of kinematic pairs, vibration activity and vibration protection; Section II (chap. 11-18) - methods for designing schemes of the main types of mechanisms, controlling the movement of the mechanism system. The presentation is given on the basis of graphical and graphoanalytical methods for determining the parameters of mechanisms, as well as analytical.