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Planetary rover mobility simulation on soft and uneven terrain

Schäfer, Bernd and Gibbesch, Andreas and Krenn, R. and Rebele, B. (2010) Planetary rover mobility simulation on soft and uneven terrain. In: Journal of Vehicle System Dynamics, Special Issue Taylor & Francis Group, Abingdon, UK. pp. 149-169. ISSN ISSN 0042-3114 print/ISSN 1744-5159 online

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Abstract

Rovers on Mars or the Moon for planetary exploration are obtaining increased importance within the spaceflight nations. To achieve full mission success, drivability and mobility in all kinds of complex motion scenarios have to be guaranteed. Here, proper modelling and understanding of the complex wheel–soil interaction, i.e. the terramechanics for flexible and rigid wheels interacting with hard, soft and loose soil, are a major driver for supporting reliable rover design and assisting in testing of the flight model. This paper deals with the terramechanical characteristics for wheel–soil contact dynamics modelling and simulation and its experimental validation on the basis of the future European Mars rover mission ExoMars. The physical contact models are integrated by a multi-body system approach and the performance of the rover mobility will be shown for various driving scenarios on hard and soft soil.

Document Type:Contribution to a Collection
Title:Planetary rover mobility simulation on soft and uneven terrain
Authors:
AuthorsInstitution or Email of Authors
Schäfer, BerndBernd.Schaefer@DLR.de
Gibbesch, AndreasAndreas.Gibbesch@DLr.de
Krenn, R.UNSPECIFIED
Rebele, B.UNSPECIFIED
Date:2010
Journal or Publication Title:Journal of Vehicle System Dynamics, Special Issue
Refereed publication:Yes
In ISI Web of Science:Yes
Volume:48
Page Range:pp. 149-169
Publisher:Taylor & Francis Group, Abingdon, UK
ISSN:ISSN 0042-3114 print/ISSN 1744-5159 online
Status:Published
Keywords:multi-body dynamics; terramechanics; planetary rover; polygon contact model; soft soil contact model; validation
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Robotische Explorationstechnologie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Monika Klauer
Deposited On:19 Jan 2010 13:52
Last Modified:19 Jan 2010 13:52

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