In order to meet the requirements of complex terrain such as mountains, a new steering mechanism suitable for wheel-foot hybrid mobile robots is designed. The overall force analysis and the force analysis of key parts are carried out, and the theoretical force analysis formula is established; the static simulation analysis experiment of key parts is carried out by Solidworks Simulation, and the simulation results are compared with the theoretical analysis results. The results show that the steering mechanism is reliable and solves the problem that the traditional steering mechanism cannot lift the wheel greatly.