In　the　paper,　the　mobility　and　obstacle-surmounting　capability　of　six-wheels　Lunar　exploration　prototype　＇BH-1＇　are　analyzed.　Then,　the　theoretical　analysis　of　the　kinematics　and　dynamics　of　the　prototype　is　conducted.　The　kinematics　constraint　relations　between　the　robot　body　and　the　robot　wheels　are　derived,　and　the　influences　of　the　forward　slip　movement,　the　lateral　slip　movement　and　the　steering　slip　angle　on　the　kinematics　of　the　prototype　are　analyzed.　The　mechanics　of　the　wheel　on　the　soft　soil　is　studied.　Furthermore,　a　dynamics　model　based　on　Kane＇s　dynamics　equations　is　established.　At　last,　ODE　(Open　Dynamics　Engine)　is　utilized　to　simulate　the　obstacle-clearing　process　of　the　prototype.　The　simulation　results　show　the　excellent　mobility　and　obstacle-clearing　performance.