According to the requirements of loading and unloading of safety valve, an automatic guide vehicle for safety valve handling is designed. Aiming at the established mechanical model of in-situ steering of truck, the simulation analysis of virtual prototype is carried out by using ADAMS simulation software. The steering motion under different wheel ground friction coefficient, steering acceleration time and eccentricity is simulated for many times. Based on the simulation curve of rotation center displacement and discrete points of relative displacement value in three-dimensional space, the uncertainty is compared and analyzed The simulation results and prototype tests verify the correctness of the theoretical analysis, which provides a basis for the optimization of the mechanical structure and the design of the control system of the carrier.