In reality, whether it is for goods transportation or medical emergency response, mobile devices face various road conditions. Relying solely on traditional circular wheels for movement cannot ensure smooth operation on uneven surfaces, while relying solely on tracks for movement cannot achieve fast mobility on smooth surfaces. Faced with the aforementioned practical challenges, this paper presents the design of a transformable wheel integrated with tracks, achieving stable and flexible mobility under various road conditions. A kinematic model of the transformable wheel is established, and a detailed analysis of the transformation process is conducted. The transformable wheel mechanism is optimized, and the dimensional parameters of various components within the transformable wheel are determined. Last but not least, simulation is carried out to verify the proposed method.