Aiming　at　the　problem　that　the　body　of　the　existing　wheeled　robot　is　relatively　fixed　and　cannot　adapt　to　the　complex　environment,　a　new　type　of　deployable　mobile　robot　mechanism　is　proposed　by　introducing　a　rigid　origami　mechanism,　which　is　with　less　degrees　of　freedom　and　large　folding　ratio,　into　efficient　wheeled　motion,　and　improves　the　passing　performance　in　complex　environments.　The　working　principle　analysis　of　this　mechanism　is　carried　out,　and　the　relationship　between　the　three-dimensional　sizes　of　the　robot　and　driving　angles　is　obtained.　By　establishing　a　simplified　model　of　the　robot,　its　dynamics　is　carried　out.　Then,　the　change　of　the　driving　torque　of　different　positions　with　the　driving　angle　is　obtained,　which　is　used　to　optimize　the　driving　arrangement　scheme.　Through　a　proposed　algorithm,　the　compatible　movement　between　the　main　body　folding　and　the　wheel　motion　is　realized,　so　that　the　robot　can　move　efficiently　in　the　complex　environment.　Finally,　a　physical　prototype　and　the　control　system　are　built,　based　on　which　the　movement　and　folding　performance　are　verified　through　two　experiments.　The　results　show　that　the　robot　could　fit　complex　paths　flexibly　by　switching　its　postures,　and　has　the　advantages　of　large　deployment　and　folding　ratio.　Therefore,　the　robot　owns　the　potential　applications　in　some　engineering　fields　such　as　detection,　detection　and　rescue.　©　2022　Editorial　Office　of　Chinese　Journal　of　Mechanical　Engineering.　All　rights　reserved.