This textbook is one of the last works of the late professor, doctor of technical sciences S. I. Artobolevsky. The manuscript has been prepared for printing. B. P. Kozintsov, who introduced the reviewers indicated in it (prof. V. A. Yudin and A. M. Grigoriev) corrections. The volume and construction of this textbook corresponds to the program of the course "Theory of Mechanisms and Machines," which was taught by the author at the All-Union Correspondence Energy Institute.