Like all engineering processes, design of planar of linkages also requires a suitable mix of theory and practice. This involves a bit of science and a bit of art. This aspect will be highlighted through examples of planar linkages, both rigid and compliant. For rigid linkages, theory of planar kinematics, directly applicable to design of four-bar linkages, will be extended to design six or eight link mechanisms. Examples will be given of parallel motion generator, focal mechanisms and wall-climbing robots. Different design principles of compliant planar linkages will be introduced. Finally, an actively controlled two-link path generating mechanism actuated by SMA wires will be presented. It will be shown how theory helped to provide the reference signal, which needs to be modified by a simple PID controller.