Mechanical system structure composition of controlled five-bar mechanism and working principle of its control system are introduced.

As the simplest multi- degree mechanism, the controlled five-bar mechanisms are becoming the hot spot area of mechanism.

Design of the controllable five-bar mechanism with a hybrid input for generating arbitrary complex function relationships;

This paper puts forwrd a new way to research the linkage curves regulation of planar five-bar mechanism.

Based on two “similar Class Ⅱ bar groups” and “two framed links+Class Ⅱ bar groups”, this paper presents the construction methods of the basic types of the five-bar mechanism, and deduces 13 basic types of the five-bar mechanism; then the evolutionary process and characteristic of the five-bar mechanism is proposed, which is based on the selection of driving component and additive rod and so on.

A method that uses two degrees of freedom(DOF) auxiliary mechanisms to path synthesize a five-bar mechanism was presented after analyzing the posts and inverted solutions of the five-bar mechanism.

By using the displacement equation and its singularity condition,the workspace boundary and its change rule of the plane five-bar linkage was analyzes.

Grashof’s law for the five-bar linkage is derived by means of disassembling kinematic chains.

On the basis of the basic theory of five-bar mechanism and the theory of triangle stability,the RPRPR five-bar mechanism realizing accurately "the given tracks at random" is put forward in this paper.