Spherical mobile robot (SMR) has been studied analytically and experimentally in this paper, a novel design with an internal propulsion mechanism and mathematical models of the robot's dynamics and kinematics are introduced. A 3D model of robot is built by SOLIDWORKS and then exported to ADAMS2007 for simulation. The results of simulation by combining MATLAB/SIMULINK with ADAMS are presented. It is shown experimentally that the behavior of actual model consist well with the prediction of simulation.