A certain crawler crane was taken as the research object, and the multi-body dynamics model of the traveling mechanism is established based on RecurDyn software, and the simulation analysis is carried out for three typical working cases, namely, straight-line, hill-climbing, and steering-in-Place, so as to obtain the driving torque of the driving wheels. The simulation values are compared with the theoretical calculations. It is verified that the simulation model is correct. On the basis of this, the simulation of steering conditions is carried out to analyze the influence of different track gauges, steering radii and rotational speeds on the steering slip force. The results show that the steering slip force increases with the increasing of the track gauge within a certain range, and the steering slip force decreases with the increasing of the steering radius, and the turning speed.