<p>This paper explores the kinematic characteristics of a novel transforming planar linkage mechanism characterized by a coiling and uncoiling motion pattern. Unlike traditional deployable structures that depend on scaling transformations, this mechanism utilizes a four-bar linkage system that rotates collectively to achieve the desired transformation with a single degree of freedom. The study provides a comprehensive analysis of the mechanism’s properties, highlighting its singularity points, trajectory variations, and transformation capabilities contingent on the fixed frame’s position. These properties are validated through simulations and experimental tests, supporting the analytical findings. Furthermore, a tendon-driven actuation method tailored for this mechanism is introduced and validated using a physical prototype. The results contribute significantly to understanding this innovative planar linkage mechanism, offering valuable insights for designing novel mechanical systems and applications.</p>