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Statically indeterminate trusses have been long studied. It has been proven that a redundant link is necessary for static indeterminacy to evolve. This is believed to hold true for mechanisms as well. However, one rarely encounters mechanisms with a redundant link, and therefore their study has often been deemed unnecessary. It has been found, though, that static indeterminacy may occur in mechanisms without redundant links if their kinematic pairs impose redundant constraints—those which fail to reduce the mobility of the mechanism (such constraints were at one time also referred to as passive). It appears that the majority of mechanisms used in machinery are subject to such constraints. Redundant constraints cause significant issues. They demand higher accuracy in manufacturing, which increases the cost of machines, and often such accuracy is unattainable due to deformations. The load-bearing capacity and efficiency are reduced, necessitating increases in the weight and size of the machinery. Therefore, in engineering design, the scientific selection of kinematic pairs (the connections of the links) must aim to eliminate redundant constraints. Mechanisms free of redundant constraints are self-aligning, which explains the title of this book. Its content is dedicated to methods of analysis and design of such mechanisms and their applications across various fields. Translated from Russian   by Leo M. Sachs