Abstract: Aiming at the problem of propeller damage caused by collision of rotor-type robots in star catalog environment,an anti-collision rotor-type robot configuration based on six-bar tensegrity structure is proposed. By constructing the node matrix, connection matrix and vector matrix, the mathematical model of the six-bar tensegrity structure is established, and the mechanical analysis is carried out by using the solution method based on the equilibrium matrix and nonlinear finite element theory. The simplified 3D model is meshed by HyperMesh software, and the 3D mesh model is imported into ABAQUS software to carry out collision simulation under different drop and flight speeds. The anti-collision performance is verified by the evaluation criteria of structural interference and deformation degree. The simulation results show that when the robot falls, it contacts the surface of Titan with a closed triangular surface, and can withstand a maximum drop height of up to23.7 m. Design of its propeller ensures protection from damage during this process. In the case of a collision against the rotor bar, the structure can withstand the impact velocity of 7 m/s. Finally, the effectiveness of the proposed configuration is further verified by building a prototype and performing static and dynamic load tests. In summary, the anti-collision capability of the rotor-type robot in this study covers unexpected situations that may be encountered during normal landing operations,providing an innovative technical solution for robot safety and reliability in star catalog detection.