With a pioneering methodology, the book covers the fundamental aspects of kinematic analysis and synthesis of linkage, and provides a theoretical foundation for engineers and researchers in mechanisms design. *; The first book to propose a complete curvature theory for planar, spherical and spatial motion*; Treatment of the synthesis of linkages with a novel approach*; Well-structured format with chapters introducing clearly distinguishable concepts following in a logical sequence dealing with planar, spherical and spatial motion *; Presents a pioneering methodology by a recognized expert in the field and brought up to date with the latest research and findings*; Fundamental theory and application examples are supplied fully illustrated throughout.