Abstract: Wheel sinkage is a key factor influencing the mobility of the lunar rover. A series of tests concerning a rigid wheel of the lunar rover rolling on stimulant lunar soil are performed in a soil bin, including the first-pass and the multi-passes through the same rut, and the wheel sinkage is measured. Based on the loading-deformation and the multiple loading-deformation model of the lunar soil simulation, a computational method for wheel sinkage is proposed. The difference of wheel sinkages between the computational results and the experimental results is less than 8%. Furthermore, the rear wheel sinkages of two-axle and three-axle lunar rovers are analyzed and compared.