Abstract: In the process of the lunar rover moving on the moon surface, the surface undulations and the (1/6)g gravity environment will affect the thermal control system of the rover, thus the ground experimental verification of the thermal control system is necessary. Based on the study of the adaptability of the movement mechanism in the vacuum and low temperature environment, a lunar attitude simulator for the thermal test of the rover is developed. The simulation device realizes the pitching and rolling simulations of the rover through two sets of screw lifting mechanism. During verification by two large-scale thermal tests of the lunar rover prototype and the flight model, the simulator has successfully completed the task. This study provides a basis for the design of kinematic tooling in the future thermal test.