To　investigate　the　kinematic　and　dynamic　performance　of　lunar　rover　running　on　loose　soil,　and　predict　its　motion　behaviors,　a　model　of　lunar　rover　is　established　based　on　plastoelastic　terramechanics　and　multibody　dynamics.　The　constraints　of　the　joints　are　analyzed　to　obtain　constraint　forces,　the　simplified　Bekker＇s　terramechanics　are　used　to　solve　the　forces　between　wheels　and　the　terrain.　A　method　based　on　virtual　points　detection　is　presented　to　detect　the　contact　relationship　and　evaluate　the　geometrical　parameters　between　the　wheels　and　the　terrain,　more　accurate　geometrical　parameters　are　obtained　by　static　balance.　A　simulation　platform　is　developed,　with　drive　torques　and　steering　torques　of　wheels　as　input,　rover　attitude　and　wheel-terrain　forces　as　output.　The　experimental　results　show　that　the　model　has　good　kinematic　and　dynamic　performance.