Authors: R. Kim, E. Diller, E. Harkonen, A. Mazumdar Abstract: Mobile robots can transport payloads far greater than their mass through vehicle traction. However, off-road terrain features substantial variation in height, grade, and friction, which can cause traction to degrade or fail catastrophically. To maximize payload through optimal vehicle traction, unique solutions are required for different surfaces. This paper presents a system that utilizes a vehicle-mounted, multipurpose manipulator to physically adapt the robot with unique anchors suitable for a particular terrain for autonomous payload transport. Specifically, this work presents "swappable anchors'', which can be easily attached/detached to adapt the vehicle using permanent magnets. We present four unique anchor designs, each optimal for a specific surface, and experimentally validate them. The experimental results illustrate how this approach can increase the overall payload capacity of a system on various surfaces by increasing the effective coefficient of friction. We delineate how we can use the manipulator to autonomously localize the payload using a visual sensor, attach the payload to the vehicle using a permanent-magnet-based payload key/lock, and pull up to 38x its body mass using the anchors.