This paper presents the design and analysis of a planetary rover, focusing on its interaction with the regolith surface. The rover's design incorporates considerations of wheel-soil dynamics to optimize performance and maneuverability in extraterrestrial environments. Furthermore, it introduces a distinctive simulated inchworm-like crawling gait, capable of escaping entrapment through wriggling motions, and proceeds to analyze its dynamic characteristics. By conducting a comprehensive analysis of wheel-soil interaction, encompassing parameters such as deformation indices, cohesive and frictional deformation moduli, and sinkage, the paper strives to enhance our comprehension of the rover's mobility and traction capabilities across diverse planetary terrains. The derived findings offer valuable insights, significantly contributing to the advancement of future planetary exploration missions.