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Modelling of planetary rovers by means of a dynamical system approach with respect to mobility requirements

Gibbesch, Andreas und Schäfer, Bernd (2006) Modelling of planetary rovers by means of a dynamical system approach with respect to mobility requirements. 10th European Conference of the ISTVS 2006, 2006-10-03 - 2006-10-06, Budapest, Hungary.

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The term of terramechanics is somewhat deceptive when used in conjunction with planetary exploration rovers but the field of application is comparable to off-road vehicles on earth. In contrast to classical off-road vehicle design the challenge of vehicle design for extraterrestrical exploration requires immense research effort due to the demand for mobility and the absence of engagement possibilities with the vehicle. Therefore autonomous vehicles with optimised mobility performance are needed for future missions and hence tools for design, layout and multiobjective optimisations are needed to fullfil mission requirements without having the possibility to conduct hardware tests in the later working environment. The definition of vehicle performance in rough and soft soil terrain can be distinguished by the terms of trafficability, manoeuvrability and terrainability. Trafficability, which is a robot's ability to traverse soft soils or hard ground without loss of traction, is the main subject of investigation for the presented multibody system (MBS) simulation approach.

Dokumentart:Konferenzbeitrag (Vortrag, Paper)
Titel:Modelling of planetary rovers by means of a dynamical system approach with respect to mobility requirements
AutorenInstitution oder E-Mail-Adresse der Autoren
Stichwörter:soft soil wheel slip, multibody system (MBS) simulation, planetary rover
Veranstaltungstitel:10th European Conference of the ISTVS 2006
Veranstaltungsort:Budapest, Hungary
Veranstaltungsart:internationale Konferenz
Veranstaltungsdatum:2006-10-03 - 2006-10-06
Veranstalter :ISTVS
HGF - Forschungsbereich:Luftfahrt, Raumfahrt und Verkehr
HGF - Programm:Verkehr
HGF - Programmthema:V SH - Verbesserung der Sicherheit im Verkehr (alt)
DLR - Schwerpunkt:Verkehr
DLR - Forschungsgebiet:V SH - Verbesserung der Sicherheit im Verkehr
DLR - Teilgebiet (Projekt, Vorhaben):V - ViFa (alt)
Standort: Oberpfaffenhofen
Institute & Einrichtungen:Institut für Robotik und Mechatronik > Systemdynamik und Regelungstechnik (war Entwurfsorientierte Regelungstechnik)
Hinterlegt von: Monika Klauer
Hinterlegt am:26 Okt 2006
Letzte Änderung:12 Dez 2013 20:21

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