It is important to enhance mobility performance of the Mars rover wheel in soft terrain. The didactyl foot, which is the key part of ostrich foot possessing the excellent running ability on sand, was regarded as the bionic prototype. According to the principle of engineering bionic, the wheel with bionic drum shaped surface moving on sand with high mobility performance was designed. A kind of Mars soil stimulants was selected as experimental material. The wheel-soil bin test system was adopted to test the tractive trafficability of ordinary drum shaped surface wheel and bionic drum shaped surface wheel. The rut morphology, drawbar pull and sinkage were regarded as evaluation indicators. Results showed that when the slip-rotation ratio was over 0.85, the rut accumulation phenomenon of ordinary drum shaped wheel was more serious than that of bionic drum shaped wheel. Under the same experimental conditions, when slip-rotation ratio was less than 0.42, the drawbar pull of ordinary drum shaped wheel was slightly larger than that of the bionic drum shaped wheel. When the slip-rotation ratio was over 0.42, the drawbar pull of the bionic drum shaped wheel was superior to the ordinary drum shaped wheel. The maximum drawbar pulls of bionic drum shaped wheel and ordinary drum shaped wheel were 11.6N and 2.6N, respectively. The slip-rotation ratio had small influence on sinkage of the ordinary drum shaped wheel, and the value of sinkage was about 35mm. However, the sinkage of bionic drum shaped wheel was increased with the increase of slip-rotation ratio. This research provided a design way for enhancing the mobility performance of the Mars rover in soft terrain.