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A novel pneumatic cylinder driving polyhedron mobile mechanism is proposed in this paper.The mechanism is comprised of 5 Tetrahedrons which includes a pneumatic cylinder in each edge.It locomotes by rolling and its rolling principle is that the center of mass (CM) of the mechanism moves out of the supporting area and makes it tip over through the controlling of the motion sequence of these cylinders.Firstly, the mathematical model is built to analysis the relation between the configuration and the CM of the mechanism.Then, a binary control strategy is developed to simplify and improve the control of this mobile mechanism.After that, dynamic simulation is performed to testify the analytical validity and feasibility of the rolling gaits.At last, a prototype is fabricated to roll successfully by the proposed conception.