In this thesis kinematic and error analyses of a Hummingbird-like MAV are performed. The vehicle has 10 links and 13 joints, the main part of which is a Stephenson III six-bar mechanism that contains a Watt’s four-bar straight-line mechanism. A numerical procedure for position analysis of Stephenson III six-bar mechanisms is first checked against a closed-form solution, and then the numerical procedure is used to determine phase lags of the two wings. Differences in velocity and in acceleration are also determined. Finally, four types of singular positions of a Stephenson III six-bar mechanism are found, and the nature of each type of singularity is discussed.