This thesis aims to study, analyze, and design a test rig for Lunar rover wheels to understand their lifecycle under various operational configurations. The proposed test rig features a single-wheel with a configurable vertical load, which is suitable for characterizing the first-order of magnitude in wheel-soil interaction and traction capabilities. However, it misses out on vehicle-induced forces deriving from suspensions and the interaction between each wheel. More in advance, the proposed system is designed to meet a set of specific requirements: it must be dismountable, capable of rotating around its own axis with controlled velocity, able to support a maximum load of 150 kg (equivalent to half of the rover’s total weight), and allow for the measurement of the inclination of the arm to which the wheel is attached.