The invention discloses a track error compensation type four-link mechanism and a track error compensation method thereof. The track error compensation type four-link mechanism comprises a crank, a rocker, a connecting link movably connected between the crank and the rocker, an output link fixed on the connecting link, a controller used for outputting a movement track of the output link when the crank works, and a voltage source applied to the output link, wherein the output link is made from an electro-active material, so that the output link can rotate by a certain angle under excitation of the voltage source. According to the output link made of the rigid material, the controller outputs an original track of the output link made from the rigid material when the crank works, the track error between the original track and an expected track is compared to obtain a compensation track, and the voltage excitation time sequence of the voltage source is obtained according to the compensation track to control the voltage source to output voltage to the output link made from the electro-active material.