Given　the　increasing　demand　for　robots　with　advanced　environmental　adaptability　across　various　fields,　this　study　aims　to　address　the　limitations　of　wheeled　robots　in　traversing　rugged　terrains　and　the　instability　of　legged　robots　on　flat　surfaces.　In　order　to　overcome　these　challenges,　a　hexapod　robot　with　variable　morphology　was　designed　and　developed.　This　robot　possesses　both　flexibility　and　stability,　enabling　it　to　navigate　a　wide　range　of　terrains.　Through　the　measurement　and　analysis　of　the　robot＇s　motion　states,　the　results　of　different　motion　scenarios　were　studied　to　validate　the　rationality　and　feasibility　of　the　hexapod　robot＇s　structure.　This　research　provides　a　foundation　for　further　in-depth　studies　of　this　model.　©　2023　SPIE.