As an active participant to the design and validation of the Exomars rover, RUAG Space had developed a simulation tool for planetary rovers. This parametric tool was based on analytical solutions to ensure an optimal computing efficiency. It used a “quasi-static” approach to simulate the physics providing accurate results for very low-speed rovers. Now, when looking at future missions such as the Sample Fetching Rover, it becomes necessary to take into account the dynamic effects for proper physic modelling. For his Master Thesis, Malo developed such a model respecting the analytical approach and integrated it in the existing software. Such work required a proper understanding of multibody dynamics to integrate the Newton-Euler equations into the simulator as well as the physics behind wheel-soil interactions.