In this paper the kinematic analysis of a six-legged robot, hereafter named Hex-piderix, is carried out. A three revolute (3R) chain has been chosen for each limb in order to mimic the leg structure of an insect. The rotation matrix, with unitary vectors, and the Denavit-Hartenberg (D-H) conventions are used to find the pose of the thorax. The problem of inverse position is solved by geometrical analysis. The direct and inverse infinitesimal kinematics are obtained by the reciprocal screw theory, considering a suction cup attached to each leg and modelling it as a UP linkage. A numerical example of the thorax pose was made by solving the equations obtained from the direct position analysis. The equations of the inverse position analysis were solved to obtain the angles of the joints. Finally, the velocity values of the thorax obtained from the infinitesimal kinematics were validated by simulating the movements of Hex-piderix using specialized software.