Three-dimensional Discrete Element Method simulation system of the interaction between irregular structure wheel and lunar soil simulant

•Based on the theory of terramechanics, the 3D dynamic simulation system was established by combining CATIA and PFC3D.•The rationality of the simulation system was verified by the wheel soil-bin test.•In addition to the flat surface of ground, two kinds of lunar environments simulant were added to the simulation system.•The distribution of lunar soil stimulant can be observed more clearly by the changes of color gradients and the post-processing of IV program.