In this paper, the nonperiodic function synthesis of an RCCC mechanism is presented using a wavelet feature parameter (WFP) method. The output function and the sliding displacement of the RCCC mechanism are described by the wavelet approximate and wavelet details. Based on the relationship of wavelet details of the sliding displacement and its scaling, a normalization method for wavelet details of the sliding displacement is presented. The influence of proportional scaling of the linkage lengths is eliminated. An adaptive database is established. The problem of nonperiodic design requirements of RCCC mechanism function synthesis is solved. To demonstrate the feasibility of this method, two numerical examples are proposed. Based on the nonperiodic design requirements, the RCCC mechanisms are designed and simulated using matlab and catia software. The results show that the method proposed is effective for nonperiodic function generation of the RCCC mechanism with multiple positions.

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