Abstract: Existing methods for calculating traction force of tracked vehicles seldom consider combined effects of slope soil physical properties, track motion characteristics, and grouser parameters．To address this issue, a maximum soil shear stress model and track shoe traction model under mountainous slope conditions were constructed．Impact of grouser parameters on traction was analyzed, and validation experiments were conducted．Results indicated that with increases in grouser height, grouser thickness, and inclination ratio, unit growth rates of traction were 37.25%, 48.00%, and 53.50%, respectively, and traction decreased as inclined lug angle increases．Relative errors between experimental and theoretical values were less than 10%, demonstrating effectiveness of developed track shoe traction model．This model accurately reflected influence of soil physical properties, grouser structure, and shear rate on track traction, providing a theoretical basis for calculating traction and optimizing grouser parameters for tracked vehicles on slopes．