Abstract: This study introduced a six-legged walking machine with new leg structure, analyzed this walking machine’s mechanism and tripod gait and transmission system. With modeling in PRO/E, we imported the model into ADAMS, simulation results showed the motion curve of the walking machine in three dimensional. Prototype test showed the walking machine’s straight walking capacity and provided a basis for improvement. The results of test proved the design’s rationality and revealed some problems need to be optimized, such as leg stuck even machine’s body sink. This design showed a valuable way in walking machine’s walking mechanism.