With the advancement of technology, systems that traverse complex terrains without using wheels, known as terrain robots, have been researched and developed. Besides prototyping to evaluate the functionality of these systems, theoretical methods to analyze these mechanisms are also gaining attention. This research employs the closed-loop vector equation for calculations and proposes an analysis method for Klann linkages, a type of walking mechanism. Based on the analysis process, kinematic parameters such as tilting angle, average moving velocity, position, and trajectory of the robot’s legs are determined. The obtained results demonstrate the effectiveness of this method in analyzing other types of structures, reducing calculation time while ensuring accuracy in the calculations.