Abstract: A dual-drive small multi-rod tooth-turning machine was designed to meet needs of small and medium-sized farm waste disposal.Main structure and working principle of turning machine were discussed.Design of walking system，turning system and control system were studied.Walking chassis was driven by double-reduction motor，and turning system adopted structure-optimized toothing.Control system adopted form of PLC and sensor combination.Test showed that machine runed smoothly，flow was even and smooth，production was efficient，and processing capacity could reach 150~200 m3/h.It was widely used for disposal of manure waste and organic fertilizer in small and medium-sized farms.