"Singularities of Robot Mechanisms" is a technical book that focuses on the singular configurations of robot mechanisms. It offers robust methods for calculating, interpreting, and planning avoidance paths concerning these singularities. These methods are crucial, as singularities can disrupt the normal functioning of robots while also determining the workspaces and motion constraints of the underlying mechanical structures. A standout feature of this book is the applicability of the methods to non-redundant mechanisms of general architecture, which are interconnected in any manner by planar or spatial kinematic chains. Furthermore, the interpretation of singularities as silhouettes of the configuration space from the input or output spaces is considered, leading to a powerful visualization that explains the implications of traversing singular configurations. The book provides not only theoretical approaches but also practical applications, supported by an accompanying website that offers open access to implementations of the algorithms and the corresponding input files. This allows readers to gain practical experience and analyze new mechanisms that go beyond those covered in the text.