The book "Type Synthesis of Parallel Mechanisms" offers a comprehensive examination of the systematic type synthesis of parallel mechanisms (PMs). This monograph is crucial for the creative design of a variety of innovative devices based on PMs, such as parallel manipulators, parallel kinematic machines, motion simulators, haptic devices, and micro- and nanomanipulators. The type synthesis of PMs refers to the identification of all PM types that meet a specific motion requirement. The work discusses the classification of PMs and presents an efficient method for type synthesis, supplemented by numerous PMs that are available for practical applications. The proposed synthesis method is based on the concept of the virtual chain and the fundamental principles of screw theory. Additionally, a general procedure for the mobility analysis of PMs is presented to facilitate the understanding of various PM architectures. A basic knowledge of linear algebra and kinematics is required to understand the book. It is aimed at researchers, developers, engineers, and students interested in robotics, creative mechanism design, and screw theory.