Abstract: With the continuous advancement of technology, the design and application of robots have gradually become a hot topic in the field of technology research, and the robotics industry has developed rapidly. In order to enhance the environmental adaptability and flexibility of quadruped walking robots so as to play a crucial role in various fields, this article analyzes the current research status and limitations of traditional walking mechanisms; on this basis, referring to the combination of Chebyshev's quadruped walking mechanism, the structure of the quadruped walking robot is analyzed and optimized with a planar six-bar mechanism. The 3D modeling and motion simulation analysis are conducted by using AutoCAD 2023 and SolidWorks software to verify its rationality and feasibility.