Abstract: By using matrix method,kinematics analysis mathematical models of common basal group linkages are established,and their program modules of displacement, velocity and acceleration are established. A CAD system of the analysis and simulation for planar five-bar linkage mechanism with dual freedoms is developed in the visual language (Visual Basic 6.0). The software has the functions of numerical computation, motion chart drawing and motion simulating. The correctness of the mathematical models was validated by using automatic dynamic analysis software of mechanical system ADAMS.