This reprint collects the papers published on the special issue "Kinematics and Robot Design V, KaRD2022", which is the fifth edition of the KaRD special-issue series, hosted by the open-access journal "MDPI Robotics". KaRD series is an open environment where researchers can present their works and discuss all the topics focused on the many aspects that involve kinematics in the design of robotic/automatic systems. Kinematics is so intimately related to the design of robotic/automatic systems that the admitted topics of the KaRD series practically cover all the subjects normally present in well-established international conferences on "mechanisms and robotics". KaRD2022, after the peer-review process, accepted 13 papers. The accepted papers cover some theoretical and many design/applicative aspects.