Aiming at the problem of motion stability of the wounded carrying robot in the staircase environment, the influence of the joint movement of the robot on the motion stability of the robot was analyzed, and the robot kinematics model was established. Combined with the stability cone method and the actual structure of the casualty carrying robot, the influence of the center of gravity adjustment mechanism on the stability of the robot was calculated and analyzed by MATLAB software, and the stability of the stair movement of the robot after the center of gravity adjustment was verified. Simulation and experiments show that the center of gravity adjustment mechanism of the casualty carrier robot can effectively adjust the center of gravity of the robot, and the adjusted robot can stably transport the injured out in the staircase environment.