###### Abstract
used the Mckyes-Ali three-dimensional model to analyze the interaction between the baffle and the soil; compared the predicted results, [PERSON]'s model, and the measured values; and found that the predicted values obtained by the three-dimensional model were closer to the measured values [14,15]. As an important branch of ground mechanics, the mechanical characteristics of the interaction between a crawler-type walking mechanism and the ground have also been studied by many scholars. The resulting force of the ground acting on the crawler is called the traction force of the crawler robot, and the traction force and the ground shear force are a pair of interactive forces, so the traction force is closely related to the ground adhesion performance of the crawler [16]. The additional traction of the tracked robot caused by the action of the grouser is called the grouser effect, and parameters such as the width, length, height, and shape of the tread shoes influence the adhesion between the track and the ground. To better evaluate the traction and running performance of a four-track mining vehicle, [PERSON] proposed a dynamic subsidence phenomenon involving a soft seabed as well as front and rear track effects and established mathematical models of the subsidence and the traction-slip rate based on the theory of topographic mechanics [17]. [PERSON] et al. divided the soil thrust of the track shoe into the force acting on the bottom of the track shoe, the force perpendicular to the shear plane of the track shoe, and the force acting on both ends of the track shoe, then deduced them and verified the new thrust formula through a traction test of the actual track shoe [18]. To further optimize the walking mechanism of a tracked vehicle, [PERSON] et al. conducted a traction test on a simulated track shoe in a soil trough in the laboratory and found a variation in the law of traction performance under different parameters by changing the structural parameters of the track shoe [19]. [PERSON] et al. established the gravel pavement model and the virtual prototype model of an electric shovel based on the discrete element method. On this basis, through coupling DEM and multi-body dynamics, the effects of pretightening, wheel spacing, sprocket speed, and the track's tooth height on the performance of tracked chassis were discussed [20]. [PERSON] and others put forward a systematic and accurate method of discrete element modeling for sand pavements. Based on the mechanical parameters measured by mechanical tests of the soil, the sand was modeled; on this basis, the discrete element model of the track-sand interaction was established. The track model at different speeds was numerically simulated, and the simulation results were compared with the results of an indoor soil trough test [21]. [PERSON] et al. designed a sand track shoe based on the sand traversing mechanism of ostrich feet. With the structural parameters of this kind of track shoe as the research object, the mathematical model of the track shoe-sand traction force was established based on the theory of soil mechanics, and finite element analysis of different forms of track shoes moving on sand was carried out by combining this with the orthogonal experimental method [22]. With the continual development of computer technology, the finite element method has been more widely used in studies of the interaction between a track shoe and the ground. This method can quickly and conveniently study the influence of different driving conditions, soil parameters, parameters of track shoe structure, and other factors on traction performance [16]. The surface response method is a statistical method used to find the optimal value in a certain range, which can fit the complex unknown functional relationship with a simple linear or quadratic polynomial model in a small area [23]. In this study, based on the model of the grouser effect, the surface response method was used to construct the test, and the finite element analysis method was used to simulate it.