Under the background of creative research of six wheeled lunar exploration robot, and based on the analyses of the locomotion mechanisms of foreign space exploring robots, one hundred and twenty five kinds of creative schemes are proposed by mechanism creation and composition. ADAMS12.0 and Matlab6.5 are used to evaluate and optimize the mechanical and control system of lunar exploration rover at the levels of scheme creation, scheme composition and scheme optimum. Several optimized schemes and their parameters are obtained. Finally, an optimized scheme is chosen to produce a physical lunar rover with good performance.