In order to improve the complex mechanical structure, high cost and difficulty in extensive application of the existing anti-terrorism EOD robot, a kind of portable anti-terrorism EOD robot control by a remote computer is developed. Lagrange equation was used to establish the dynamic equation of the EOD robot when it crosses the obstacle and Matlab dynamic simulation was carried out on the robot to verify its dynamic performance. In addition, the climbing experiment and simulation EOD test were conducted on the robot prototype. The robot chassis adopts crawler type chassis with front pendulum to realize obstacle crossing in complex environment. The manipulator adopts the push-rod motor to form a 5-dof series manipulator configuration to realize the lightweight design. The experimental results show that the portable anti-terrorist bomb disposal robot can conduct manual remote control bomb disposal under visible conditions, which has good application and promotion value.