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By using the modern mathematical tools such as singular theory, geometric topology, and group theory, a global scale analysis method for kinematic performance of mechanisms is proposed. Taking 6-bar with two rings mechanism as an example, a detailed analysis process is studied. The 6-bar ABLM designed by this theory is verified by virtual prototype simulation experiment. The global scale analysis of 4-bar linkage is also carried out by using this method, and the result is compared with the \u201cGrashof criterion\u201d to verify the correctness of this method. It provides a general theory and method for innovative design and global scale analysis of ABLM.<\/jats:p>","DOI":"10.1017\/s0263574719000742","type":"journal-article","created":{"date-parts":[[2019,6,19]],"date-time":"2019-06-19T05:00:04Z","timestamp":1560920404000},"page":"427-441","source":"Crossref","is-referenced-by-count":2,"title":["Theoretical Study of Global Scale Analysis Method for Agile Bionic Leg Mechanism"],"prefix":"10.1017","volume":"38","author":[{"given":"Hongbin","family":"Zang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Dengfeng","family":"Zhao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lianguan","family":"Shen","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2019,6,19]]},"reference":[{"key":"S0263574719000742_ref16","doi-asserted-by":"publisher","DOI":"10.1080\/01691864.2014.968617"},{"key":"S0263574719000742_ref5","doi-asserted-by":"publisher","DOI":"10.1016\/S1672-6529(14)60043-3"},{"key":"S0263574719000742_ref33","doi-asserted-by":"crossref","first-page":"S232","DOI":"10.1016\/S1672-6529(09)60240-7","article-title":"A review of nature-inspired algorithms","volume":"7","author":"Hapeshi","year":"2010","journal-title":"J. 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