Abstract: A kinematics model of wheeled gun vehicles is established on the basis of that of common motor vehicles, to which a solution is given for the posture of moving vehicle using the theory of homogeneous matrix. A kind of 3-RPS and 3-DOF parallel robotic mechanisms is used as motion-sensible platform to implement the motion simulation, with a speed formula of actuator given so as to ensure the drive-controllable actuators to move at a preset speed and enable the motion-sensitive platform to perform a real-time simulation of the moving posture of a wheeled gun vehicle in running. The feasibility of the model and the validity of such a system were verified by the simulation.