This paper considers the teaching aspect in the evolution of mechanisms and machines drawing with the aim to recognize developments and changes in the teaching approaches of what we now call Theory of Mechanisms. The evolution of mechanism schemes has been reviewed through significant examples drawn from a few authors, who have been selected to point out basic historical developments. It is worth noting that over time mechanism design teaching has been strongly restricted to fundamentals and past methodologies so that generally current schemes for designing have not been and were not included in regular teaching curricula.

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