In order to solve the problem of unbalanced ratio of excavation and anchor and the difficulty of single transportation in fully mechanized excavation roadway, a cooperative anchor truck for fully mechanized excavation roadway was designed. Based on ADAMS, the kinematics model of the cooperative anchor truck was established, and the trajectory planning of the efficient support operation was carried out. The mechanical characteristics and ultimate support distance of each leg during the forward movement of the supporting device and the supporting monomer were analyzed. The results show that during the forward movement of the supporting monomer, when the four legs are fully supported, the force and moment of the front leg increase by 196% and 195% respectively, and the force and moment of the rear leg decrease from 73.5 kN and 238 kN·m to 0 respectively. The limit distance of the support is 15.3 m, which meets the design requirements of the support. When the three legs are supported and the right rear leg is not supported, the force and torque of the left front leg are increased by 566% and 572% respectively, and the force and torque of the left rear leg are reduced from 145 kN and 462 kN· m to 0 respectively. The constant force and torque of the right front leg are 150.8 kN and 569.4 kN·m, and the limit distance is 14.99 m. It can be seen that under the special working condition of three-leg support and no support for the right rear leg, the limit distance of the cooperative transport anchor vehicle exceeds the maximum length of the roadheader, which meets the requirements of efficient support.