The main parameters of key components such as the base frame, drive wheels, support wheel system, shock absorber tensioning device, and track of the triangular track walking device were selected. The base frame adopts an overall structure with intermediate support, which poses a challenge for the load-bearing capacity of the track wheels; Each wheel in the supporting wheel system adopts a single triangular track wheel type forest fire truck. Introduce the overall structure of the forest fire truck, the dimensions of the triangular track wheel structure, and analyze and calculate its traction, power, and driving speed. Using MATLAB to analyze the vehicle's driving stability, it was found that reducing the height of the center of mass, reducing the center of mass offset distance, and increasing the gauge can improve the vehicle's driving stability. Through calculation, it was found that the longitudinal and downhill driving angles are 34.7 ° and 40.2 °, respectively. The transverse uniform straight driving angle is 32.4 °, and the transverse uniform turning driving angle is 30.6 °. The motion simulation of the vehicle's longitudinal upward, downhill, and transverse straight driving at a slope of 30 ° was conducted, and the results showed that the vehicle will experience changes in slope. Mutation and smooth completion of motion. Composition and structural principles of triangular track wheels, and performance comparison with wheeled vehicles and integral track vehicles, The triangular rubber track wheel has the characteristics of low noise, low ground pressure, strong adaptability, and good passability, which expands the application field of wheeled vehicles and enhances their operational performance. Analyzed the development status and technical application of triangular track wheels at home and abroad