The mine anchoring robot is a kind of high-end robot equipment specially used for the anchorage operation in coal mine mining roadway. Compared with the traditional unanchoring equipment, the unanchoring robot has the advantages of high automation, good safety and high efficiency. In order to enable it to pass through the narrow space between the single pillars flexibly and safely, the fuselage width of the unanchoring robot is very limited, but the operating radius of the unanchoring robot arm is relatively large, which makes the overall stability of the unanchoring robot and the design of the walking mechanism face challenges. In view of the above problems, considering the working conditions, structural composition and working principle of the unanchoring robot, the whole machine model was established by using three-dimensional software SolidWorks, and the change curve of the center of gravity position of the whole machine and the anchor breaking robot arm under different positions and poses was completed in ADAMS, and the permissible range of the center of gravity change of the whole machine under the safety constraints of the equipment was determined. Secondly, the main structure design and key parameter calculation of the track walking mechanism are completed. The accurate positioning of the center of gravity makes it possible to accurately calculate the driving force of the track walking mechanism. Finally, dynamic simulation analysis was carried out in ADAMS under forward and turning conditions. The results show that no matter the robot is moving forward or turning, the force between the track and the driving wheel change similarly in the three directions, and the vertical distribution is approximately sinusoidal, and the force in turning is 2-3 times that in moving forward. The study can provide theoretical basis and technical support for the research and development of mine unanchoring robot.