Abstract: Based on the dynamic analysis on a wheeled-pedrailed mobile robot with weapons carried in its vertical section,a dynamic equation is developed in the very direction and adhered conditions are analyzed.Based on this,an optimal method on the matching of dynamic parameters is proposed.Simulation figures of the dynamic equation with Matlab showed the slope angle and acceleration that the mobile robot can reach under the maximum output torque of the driving motor.The paper provides some theoretical basis to the structural design and power matching of mobile robots.