The　tensegrity-based　robot　is　a　hot　research　topic　in　the　research　field　of　robotics.　The　dynamics　of　the　robot,　describing　the　specific　motion　patterns　under　the　influence　of　forces　and　torques,　play　an　important　role　in　the　application　of　robotics.　In　addition,　the　dynamics　should　be　considered　when　revealing　the　internal　mechanisms　of　robots　and　predicting　their　dynamic　behaviors.　In　this　work,　a　dynamic　model　for　a　rolling　six-bar　tensegrity-based　robot　is　established.　In　terms　of　kinematic　representation,　quaternions　are　chosen　as　the　tool　for　attitude　description,　simplifying　the　derivation　process　of　the　complex　three-dimensional　rotational　kinematics　calculations.　Quaternions　play　a　crucial　role　in　mathematical　processing　for　robot　attitude　control　and　path　planning　due　to　their　effective　representation　of　three-dimensional　space　rotations.　The　classic　Newton-Euler　dynamic　framework　was　adopted　to　conduct　in-depth　and　detailed　studies　on　the　dynamic　characteristics　of　the　robot　under　various　force　conditions　and　motion　states,　with　a　particular　focus　on　rolling　dynamic　analysis.　Special　attention　was　paid　to　the　dynamic　response　mechanisms　of　each　component　of　the　robot　under　the　combined　action　of　internal　and　external　forces　and　torques.　©　2024　Institute　of　Physics　Publishing.　All　rights　reserved.