In order to implement basic motion functions of lunar rover over uneven terrain, wheel kinematics of a novel lunar rover with each wheel independently driven was studied. In terms of mechanism principle and configuration features of the rover the kinematics model of wheels was set up by utilizing modified D-H method. The simulation analyses of wheels traversing over uneven terrain were carried out by using MATLAB software. The velocity simulation curves of wheels’ centers relative to rover body were acquired. The research results give motion parameters of wheels varying with rough terrain, and from the velocity simulation curves we can gain velocity control instructions of rover wheels over uneven terrain. It illustrates varying of lunar rover wheels’ velocity with uneven terrain. The paper provides a theoretical basis for accomplishing motion control and autonomously avoiding obstacles of lunar rover and so on.