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Multibody and Contact Dynamics: From Satellite Capturing to Planetary Rover Terrainability

Schäfer, Bernd and Krenn, Rainer (2010) Multibody and Contact Dynamics: From Satellite Capturing to Planetary Rover Terrainability. 1st esa Workshop on Multibody Dynamics for Space Applications, 02.-03. Feb. 2010, Noordwijk, Niederlande.

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Abstract

This paper gives a short overview of the multibody and contact dynamics based modelling and simulation activities performed at the German Aerospace Center. These cover two different applications, one in the orbital satellite servicing field and a second one in planetary explorations with rovers, specifically on Mars and Moon. Both topics require efficient and reliable contact dynamics modelling for both, satellite grasping and capturing and for the interaction between rover wheels and soft and hard planetary soils, i.e. the power transmission from the wheel actuators to the ground. Although the two applications areas, at first glance, are not necessarily common to each other, the contact dynamics modelling approach for both areas can rely on the same algorithms.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Multibody and Contact Dynamics: From Satellite Capturing to Planetary Rover Terrainability
Authors:
AuthorsInstitution or Email of Authors
Schäfer, BerndBernd.Schaefer@DLR.de
Krenn, RainerRainer.Krenn@DLR.de
Date:2010
Status:Published
Keywords:multibody dynamics, contact dynamics, satellite capturing, planetary rover, terramechanics, mobile robotics
Event Title:1st esa Workshop on Multibody Dynamics for Space Applications
Event Location:Noordwijk, Niederlande
Event Type:international Conference
Event Dates:02.-03. Feb. 2010
Organizer:estec
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:07 Apr 2010 08:43
Last Modified:07 Apr 2010 08:43

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