In order to achieve the optimal control of mini-tracked mobile robot, taking mini-tracked mobile robot plototype as basic, established robot model using ADAMS, and setting material properties, joints and all kinds of possible forces of this robot are added in this environment according to the physical circumstances. Terrain characteristics are applied to the model using subroutines, and then the locomotion characteristics of the mini-tracked mobile robot are achieved after the simulation analysis. The result shows that the method can prove reference for structural optimization and kinetic control of robot.