Abstract: It is important to research the relationship of the vehicle-terramechanics in lunar surface circumstances for the lunar rover to work according to schedule. Based on the traditional research methods and theory of terramechanics, this paper provides a prediction model for rigid-wheel and lunar soil. The authors simulated the lunar soil for the lunar-terramechanics test, developed the soil bin equipment and designed different wheels for lunar rover, and carried out the tractive test in the soil bin equipment. The results show that the predicted values of model conform with the test rusults.