Abstract: To improve the motion precision and dynamics of Stewart type wheel-foot leg under variable posture,a dynamics model predictive control (MPC) was proposed.Firstly,the force analysis was carried out for Stewart platform and a dynamics model was derived with the Newton-Euler for state-space representation.Then,the MPC predictive model and cost function were established for optimization.Next,Adams and Matlab joint simulation was performed to regulate the MPC controller and evaluate its robustness to the un-modeled friction.Finally,the comparative experiments were conducted to verify the superiority of MPC controller to PI controller in terms of motion dynamics and precision under variable posture.