The kinematics characteristic of the closed chain two degree of freedom planar five-bar mechanism is analyzed by using the closed vector polygon projection method,complex number-vector method and matrix method.The kinematics equations are deduced,furthermore,the characteristic and application situations of each method are compared and analyzed.The kinematics equations are validated according to the example designed.By using the Solid Works motion simulation software,the motion path is changed with the original position of driving link,and the inner link between kinematics equations and output motion path is achieved.The reference for solving kinematic characteristic of hybrid driven mechanism in analytic method can be provided.