In recent years wheeled robots have been developed increasingly in various aspects, namely building iection, planetary exploration and wheel-chair designing for handicapped people. Due to light weight, high energy efficiency and low noise, wheeled robots have always been under more attention proportional to chained and legged ones. In most applications, the mobile robots interact uneven terrains and it is important for robot not to have excessive wheel slip or it force to stop and even is trapped. A traction control algorithm is proposed which could be implemented independently to each wheel without any different sensors requiring. In this research, the objective is to design a wheeled mechanism that has the ability to carry objects and pass non-smooth terrains such as stairs. In the selected robot there are influencing parameters including wheels mass, distance from center of gravity to ground and links length that optimizing these parameters will result in improvement of stair climbing. To obtain cost function, the robot is analyzed under three specific positions. Target functions were chosen in a way to improve robot ability in passing obstacles. Then optimizing robot geometry and torque to do the mission and is flexible compared to same robots. Geometry optimization results in robot ability improvement to pass obstacles with less power consumption. Geometric dimension optimized by CSD method and multi objective goal attainment then the results compared. An algorithm based on friction between wheel and ground is used to control robot wheels. In this algorithm the goal is to set the torque applying on wheel between the maximum torque exerted by static and kinematic friction force. The algorithm is implemented to smooth terrain, surface with symmetric obstacles and stair. To create a periodic motion, the exerted wheel torque should be between the maximum generated torque due to kinetic and static friction force on the wheel. To implement the algorithm, MATLAB and ADAMS software are used. For the mechanism to be able to carry objects there is a plate on top of the robot which things are put on which objects are put on the plate is connected to the mechanism by joint on one side and by a jack on the other side. To control the plate on which objects with different mass are put, adaptive control is used. Results show that robot has ability to pass smooth terrain, terrain with symmetric obstacle and stairs. Moreover the torque applying on wheel gets a value between the maximum torque exerted by static and kinematic friction force. The carrier lies on horizontal position after a short time. Keywords: Optimization, Stair, Friction Control, Adaptive Control, Uneven Terrain.