The　one-degree-of-freedom　(DOF)　mechanism　has　a　simple　structure,　convenient　control,　and　high　stiffness,　and　it　has　been　applied　in　many　micro　jumping　robots.　Meanwhile,　the　six-　and　eight-bar　mechanisms　can　satisfy　more　complex　motion　requirements　than　the　four-bar　jumping　leg　mechanism　and　they　have　good　application　prospects.　However,　the　lack　of　effective　design　methods　limits　the　application　range　of　these　mechanisms.　In　this　work,　a　type　and　dimensional　integration　synthesis　method　was　proposed　with　the　one-DOF　six-bar　leg　mechanism　as　the　research　object.　The　initial　tibia　and　femur　were　determined　based　on　the　kinematic　chain　atlas,　and　configuration　design　was　implemented　through　the　superposition　of　links.　When　a　closed　chain　was　formed　in　the　superposition　process,　the　feasible　range　of　the　link　length　was　analyzed　by　considering　the　constraint　conditions.　The　proposed　method　innovatively　establishes　the　relationship　between　the　kinematic　chain　atlas　and　the　configuration,　and　the　feasible　length　ranges　of　the　links　can　be　quickly　obtained　simultaneously.　Several　examples　were　provided　to　prove　the　feasibility　of　the　kinematic　synthesis　method.　This　method　provides　a　useful　reference　for　the　design　of　one-DOF　mechanisms.