This study first establishes a mathematical model of 5R-P kinematics with the closed-loop vector method, then the corresponding M functions are written, at the same time, the 5R-P kinematic simulation model is built by virtue of Matlab/Simulink. From the simulation, the displacement, velocity and acceleration curves of slider can be obtained on condition that the appropriate initial conditions are set beforehand. Finally, Taguchi method is introduced to this mechanism to optimize the design of each link’s length, and a more reasonable combination of each link’s length allows the 5R-P mechanism to perform better. Most kinds of complicated linkages can be commonly designed in this method, which is parametrized more efficiently. What is more important is that this method can also be introduced to deal with the dynamic analysis of the linkages for the purpose of carrying out a more comprehensive design and optimization.