Abstract: Taking agricultural machinery driving robot as the research object, it firstly designs a direct-drive agricultural machinery driving robot to ensure its lightweight and simplified structure. Secondly, it designs a direct-drive electromagnetic actuator of the robot based on electromagnetic direct-drive control strategy. Lastly, it makes a thorough study on the shift controller from the aspects of establishing D-H coordinate system, kinematics and dynamics. it proved the reliability of the structure design and dynamic model of the shift controller of the driving robot by the simulation test of ADAMS software.