###### Abstract  
To improve the unstructured terrain traversing performance of the scientific research robot of the Qinghai-Tibet Plateau station, the parameters of the track shoe of the reconfigurable wheel-crawler walking mechanism were studied. Based on a typical track shoe puncture effect model, the experimental design was carried out based on the surface response method, and the dynamic model of the triangular crawler mode of the reconfigurable wheel-crawler walking mechanism was constructed and tested using RecurDyn V9R3 software. Through an analysis of the simulation results, the interaction of the grouser parameters was further clarified, and the regression equation of the traction force of the walking mechanism was obtained. The grouser parameters that enabled the reconfigurable wheel-crawler walking mechanism to have the maximum traction were obtained; these will be used to guide the machining of the prototype walking mechanism. wheel-crawler integration; grouser effect; surface response method; RecurDyn; walking mechanism +
Footnote †: journal: Medical  
Ground mechanics gradually attracted people's attention with the appearance of tractors, and in 1913, [PERSON] of Germany put forward an expression of the relationship between the subsidence depth of passive wheels and their grounding pressure. With the deepening of the research, the American scholar [PERSON] published two monographs entitled Driving Principles of Road Vehicles [2] and Driving Off-road [3] in 1956 and 1960, respectively. After more than 100 years of development, the area of ground mechanics has been studied further, and its research methods can be summarized as the purely empirical method, the semi-empirical method, the model test method, and the numerical analysis [4]. The pure empirical method is an empirical model established entirely by experimental data, represented by the mobile performance model of an agricultural vehicle's bias tire built by [PERSON]. The model includes the wheel torque, speed, traction, soil strength, the tire section width, the tire's diameter, and other parameters [5]. Although the model is simple and practical, it can only be applied to situations similar to the soil environment obtained by this formula, which has great limitations [6]. The semi-empirical method is represented by the pressure-settlement relationship proposed by [PERSON] [7], which is a mechanical model of the ground based on the Coulomb criterion of soil failure related to thrust obtained by measuring the mechanical characteristics of the ground through experiments. The model test method is the soil tank test method, which is a research method of reducing the model in equal proportions, testing it in a laboratory soil tank, and then redrawing the prototype's structure. [PERSON] and others used the model test method to analyze the physical effects of wheel lugs, sliding and sinking, wheel size and load, and finally deduced the mechanical model for predicting the behavior of a rigid wheel of a planetary wheeled mobile robot driving in sand [8,9]. A soil trough test is more economical than a prototype test, but it cannot solve the related problems of micro-local phenomena. Since the 1960s, numerical simulation methods have been gradually applied to the study of ground mechanics, among which, the finite element method and the discrete element method are important research methods [1]. To study the influence of thrust, water content, the shear rate, and the structural parameters of a track shoe on soft ground, [PERSON] et al. established a finite element model of an eight-tooth mechanism on soft ground and conducted a traction test [10,11,12]. [PERSON] et al. studied the influence of the open space between the tracks on the total traction by using a quasi-two-dimensional track shoe model and the discrete element method [13]. [PERSON] et al.