This chapter surveys recent results in the kinematic synthesis of machines. A machine is generally considered to be a device that directs a source of power to a desired application of forces and movement. The earliest machines were simply wedges, levers, and wheels that amplified human and animal effort. Eventually wind and water power were captured to drive gearing that rotated millstones and pumps (Dimarogonas 1993). Today chemical, nuclear, hydroelectric and solar energy drive machines that build, manufacture, transport, and process items that affect all aspects of our lives.