## 6 Conclusions  
This study systematically analyzed the grouser effect when the mechanism operated in triangular track mode and conducted a dynamic simulation test design based on the surface response. According to the experimental results, a prediction model for the grouser effect of the reconfigurable wheel-crawler integrated walking mechanism under the triangular crawler mode is established. The results of the analysis show that the traction force is dependent on the input parameters, including the ratio \(\lambda\) of the grouser's thickness to the length of the track shoe, the grouser's height \(h\), the grouser's pitch \(l\), \(h\times h\), \(h\times l\), and \(\lambda\times h\). And the grouser's height \(h\) has the greatest influence on the traction force. Through the coupling analysis of \(\lambda\), \(h\) and \(l\), the significance of the influence of \(h\times l\), and \(\lambda\times h\) on the traction force is further verified. When the traction force on the track shoe was selected to take the maximum value within the test range, the ratio \(\lambda\) of the thickness of the grouser to the length of the track shoe was 0.1, and the height \(h\) of the track shoe was 25.6 mm. The distance \(l\) was 12 mm.  
Figure 20: Simulation curve of maximum traction.  
In this paper, the method of response surface is used to carry out the simulation test of the grouser effect, and reliable results can be obtained with a small number of experiments. The prediction equation proposed in the current analysis represents the basic model of the grouser effect in the triangular crawler mode of the reconfigurable wheel-crawler integrated walking mechanism. In this direction, it is necessary to further analyze the wheel-terrain mechanics model of the crawler parameters on the outer side of the track in the wheel mode, and comprehensively analyze and determine the parameters of the grouser. In that case, the reconfigurable wheel-crawler integrated walking mechanism can obtain better ground adaptability in both the circular wheel mode and the triangular crawler mode.  
The following supporting information can be downloaded at: www. bilbili.com/video/BV17 yd147 ER/?spm_id_from=333.999.0.0.&vd_source=4097b7d60217d63e0d402d5e6c676c1a (accessed on 22 January 2022).  
Methodology, S.T.; software, P.Z.; validation, P.Z., S.T. and Z.S.; writing--original draft preparation, P.Z.; writing--review and editing, S.T. and Z.S.; supervision, Z.S.; project administration, S.T. All authors have read and agreed to the published version of the manuscript.  
This work was supported by the Key Technology Research Program of Inner Mongolia (Grant No. 2021 GG0258), the Natural Science Foundation of Inner Mongolia (Grant No. 2021 MS05005), the National Key R&D Program of China (Grant No. 2018 YFB1307501), the National Natural Science Foundation of China (Grant No. 61763036), the Program for Innovative Research Team in Universities of the Inner Mongolia Autonomous Region (Grant No. NMGIRT2213), the Fundamental Research Funds for the directly affiliated Universities of Inner Mongolia Autonomous Region (Grant No. JY20220046). This support is gratefully acknowledged by the authors.  
Not applicable.  
The authors declare no conflict of interest.