The multi-body dynamic model of the straw-checkerboard barriers paving robot is built through the combination of the Pro/E and ADAMS software. After the model is added with the required boundary conditions, the vibration state of the strawcheckerboard barriers paving robot is simulated when the pressing wheel and insert blade work normally. Through the simulation, the displacement, velocity and acceleration curves of the mass centers to the robot’s tractor, longitudinal paving mechanism, horizontal paving mechanism, pressing wheel and insert blade are obtained. Through the analysis of the fluctuation curves, the improvement solution is proposed, which provides data for further optimization of the robot. At last, the experiment curves in the actual state are obtained by the experiment. By the contrast of the experiment and simulation curves, it is confirmed that the simulation results of the straw-checkerboard barriers paving robot are reasonable and reliable.