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Mass and geometric parameters of all-wheel drive off road vehicles, such as coordinates of the center of gravity and arrangement of the wheels, have been obtained to satisfy cross-country mobility profiles that reduce the dynamic normal loads on the running gear system. However, the influence of these parameters on tractive properties for basic cross-country mobility of vehicles receives less attention. The authors have developed a new method for determining mass and geometric parameters that provides optimal tractive properties for basic cross-country mobility of off-road vehicles. The methodology is realized using a mathematical model of a 6WD tractor on a deformable road surface. The mass and geometric parameters are achieved by optimizing the tractive efficiency function to provide the best transport efficiency on all running gears.