Discrete element method simulations of Mars Exploration Rover wheel performance

•Discrete element simulations of a Mars Exploration Rover wheel were conducted.•At wheel slips ⩾30% simulations differed from drawbar pull data by 2–16%.•At wheel slips ⩾30% simulations differed from sinkage data by 0.45–50%.•Strength from soil particle interlocking controls wheel performance at low slip.•Interparticle friction and wheel contact area control high slip wheel performance.