The triangular-star-wheel moving structure is an important part of constitutes of the stair-climbing and obstacle-traversing robot system. The virtual prototype model of the triangular-star-wheel moving structure was constructed by using the dynamic simulation analysis software ADAMS, and the dynamic simulation analyses under various working conditions for it were done. Its structural design is verified to be rational, and analysis results provide reference for the mechanism design of the stair-climbing and obstacle-traversing robot system.