This book presents the configuration space method for computer‎-aided design of mechanisms with changing part contacts‎.‎ Configuration space is a complete and compact geometric representation of part motions and part interactions that supports the core mechanism design tasks of analysis‎,‎ synthesis‎,‎ and tolerancing‎.‎ It is the first general algorithmic treatment of the kinematics of higher pairs with changing contacts‎.‎ It will help designers detect and correct design flaws and unexpected kinematic behaviors‎,‎ as demonstrated in the book‎'‎s four case studies taken from industry‎.‎ After presenting the configuration space framework and algorithms for mechanism kinematics‎,‎ the authors describe algorithms for kinematic analysis‎,‎ tolerancing‎,‎ and synthesis based on configuration spaces‎.‎ The case studies follow‎,‎ illustrating the application of the configuration space method to the analysis and design of automotive‎,‎ micro‎-mechanical‎,‎ and optical mechanisms‎.‎ Appendixes offer a catalog of higher‎-pair mechanisms and a description of HIPAIR‎,‎ an open source C++ mechanical design system that implements some of the configuration space methods described in the book‎,‎ including configuration space visualization and kinematic simulation‎.‎ HIPAIR comes with an interactive graphical user interface and many sample mechanism input files‎.‎ The Configuration Space Method for Kinematic Design of Mechanisms will be a valuable resource for students‎,‎ researchers‎,‎ and engineers in mechanical engineering‎,‎ computer science‎,‎ and robotics‎.‎