An all-metal wheel based on spring-mesh structure is designed. The main and auxiliary springs of the metal wheel are interconnected with each other， which realizes the composite bearing capacity. In order to test the load-bearing and ride comfort of the spring tire， a ride comfort test system is built based on a 6×6 unmanned vehicle which is driven by 6 wheels and 6 motors. In view of the large amount of random noise and pulse interference noise in the vibration signal of the test results， the noise filtering is carried out by combining the morphological filtering and empirical mode decomposition （EMD） decomposition and reconstruction methods. Therefore， the effective vibration signal is obtained which can be directly used to analyze the ride comfort. In order to quantitatively analyze the vibration of metal wheel and inflatable rubber wheel， the weighted acceleration root mean square values of the test platform with different tires， different speeds and different locations are solved. The results show that the ride comfort performance of the metal wheel is slightly worse than that of the pneumatic rubber wheel with the same size， while it has a better grasping ability. Furthermore， a variety of wheel structural assemblies with spring mesh surface structure as the internal support， are proposed by adding a cladding layer with the material of rubber or crawler to the tread， in order to improve the vibration damping performance of metal wheels.