The whip leg action is the core of Sanda technology, in order to concise descriptions, the Sanda whip leg movement is simplified into a two link kinematic chain model. Whip leg movements of the hip, knee and thigh, calf links determine the position vector in three-dimensional plane, and by these to determine the whip leg movements the kinematics parameters of each joint, and links, and then determine the objective function (terminal velocity V), three-dimensional kinematics equation of human body whip leg action is established, and makes whip leg movement of each aspect have mathematical description. The study results include that: 1) the angular velocity of the thigh leg whip action is determined by the angular velocity and angular velocity of hip joint the calf, angular velocity is determined by the angular velocity of thigh and knee, work closely with the three determines the whip leg tip speed;2) in the T1 stage, leg dive after the curvature should less than 450°, while in the time of attacking leg leaving off the ground, the angular velocity greater than that of the leg link thigh, which is the most beneficial to increase the knee joint speed, and the angular velocity of knee joint as leg attack back away is mainly decided by leg pedaling the ground reaction force;3) in the T2 stage, the fully folding the leg and thigh is in favor of knee joint angular velocity Increase;4) in the whip leg link chain model of human body, the principle theory of whip compliance follows the momentum transfer from proximal to distal link by link, timely and effective braking cocoa hip to have knee momentum increase, the brake of the knee joint can make the momentum transfer to the end, and lead to the end acceleration. 5) in the chain model of Sanda whip leg links only links and joints having time coordination can they play the best effect at the end attack.% 鞭腿动作是散打腿法技术的核心，将散打鞭腿动作简化为一个二环节运动链模型，对散打鞭腿动作的髋、膝关节和大腿、小腿环节在三维平面内进行位置矢量的确定，以此确定在鞭腿动作中，各关节和环节的运动学参数，然后确定目标函数（末端速度V），建立了人体鞭腿动作的三维运动学方程，将鞭腿动作各环节要领数学化描述，结论认为：（1）鞭腿动作中大腿的角速度由腰部角速度和髋关节角速度决定，小腿的角速度由大腿和膝关节的角速度决定，三者密切配合共同决定着鞭腿末端的速度；（2）在T1阶，大小腿下潜完曲度不易超过450，在进攻腿离地瞬间，小腿环节的角速度大于大腿环节的角速度时最有利于膝关节速度的增加，进攻退离地时膝关节的角速度主要由小腿蹬地时的地面反作用力决定；（3）在T2阶段，大小腿充分折叠有利于膝关节角速度的加大；（4）人体的鞭腿环节链模型中，鞭打原理遵从动量由近端环节向远端环节传递的原理，通过髋关节及时有效的制动可使膝关节动量增加，通过膝关节的制动可使动量传递到末端，引起末端加速。（5）在散打鞭腿环节链模型中只有多环节和关节依次协调配合才能使末端发挥最佳击打效果。
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