Kinematics based on parallel mechanism of a new bionic-mobile robot with six legs were studied, and the method of coordinate transformation was used to construct kinematic model for parallel mechanism of the bionic-mobile robot; the geometrical relationship among the ends of different branches was applied to solve forward kinematics for the parallel mechanism, and the results of simulation indicate that construction of the kinematic model is right, solution of the forward kinematics is right; geometric modeling and numerical solution can be used to solve the inverse kinematics for parallel mechanism of the bionic-mobile robot and the existences of inverse kinematics for the parallel mechanism was testified.