In consideration of the complex structure and control of the wheellegged robot currently, a kind of sixlegged robot with fast wheelrolling locomotion was presented whose structure was very simple. The robot had six compliant legs, which was divided into two groups and symmetrically distributed on both sides of the body and moved forward with wheelrolling mode. It could effectively reduce the ground impact and vibration. This robot which combined the advantages of wheeled robot and leg robot could not only adapt well to the environment but also had good mobile performance. The kinematics and dynamics analyses of the robot were carried out, its model was established by SolidWorks, and the motion simulation was carried out based on ADAMS.The results show that the designed structure is feasible and can achieve fast and stable motion.