The heading machine is one of the key equipment of coal mine roadway drivage, and cantilever machine applied most widel, A lot of coal roadway floor condition is very poor in our country, so its travel mechanism performance also have a higher requirements. Especially when driving on slopes, frequently, caterpillar not firm grip, and backward. This article is based on crawler and the ground interaction theory optimization model is established, the crawler structure parameters are optimized in order to obtain maximum tractive force,thereby improving the performance of walking.