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Development Environment for Optimized Locomotion System of Planetary Rovers

Schäfer, Bernd and Leite, Alexandre Carvalho and Rebele, Bernhard (2011) Development Environment for Optimized Locomotion System of Planetary Rovers. In: Proceedings of the XIV International Symposium on Dynamic Problems of Mechanics. DINAME 2011, 13.-18. März 2011, Sao Sebastiao, SP, Brasilien.

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Abstract

This paper addresses the first steps that have been undergone to set up the development environement w.r.t optimization and to modelling and simulation of overall dynamics of the rover driving behaviour under all critical surface terrains, like soft and hard soils, slippage, bulldozing effect and digging in soft soil. Optimization is based on MOPS (Multi-Objective Prameter Synthesis), that is capable for handling several objective functions such as mass reduction, motor power reduction, increase of traction forces, rover stability guarantee, and more. The tool interferes with Matlab/Simulink and with Modelica/Dymola for dynamics model implementation. For modelling and simulation of the overall rover dynamics and terramechanical behaviour in all kind of soils we apply a Matlab based tool that takes advantage of the multibody dynamics tool Simpack. First results of very promising rover optimizations 6 wheels are presented that improve ExoMars rover type wheel suspension systems. Performance of driveability behaviour in different soils is presented as well. The next steps are discusses in order to achieve the planned overall development environment.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Development Environment for Optimized Locomotion System of Planetary Rovers
Authors:
AuthorsInstitution or Email of Authors
Schäfer, BerndBernd.Schaefer@DLR.de
Leite, Alexandre CarvalhoUNSPECIFIED
Rebele, BernhardUNSPECIFIED
Date:2011
Journal or Publication Title:Proceedings of the XIV International Symposium on Dynamic Problems of Mechanics
Refereed publication:Yes
In ISI Web of Science:No
Editors:
EditorsEmail
Fleury, A.T.UNSPECIFIED
Kurka, P.R.G.UNSPECIFIED
Status:Published
Keywords:multibody dynamics, planetary rovers, optimization, terramechanics, simulation
Event Title:DINAME 2011
Event Location:Sao Sebastiao, SP, Brasilien
Event Type:international Conference
Event Dates:13.-18. März 2011
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 > System Dynamics and Control (former Control Design Engineering)
Deposited By: Monika Klauer
Deposited On:18 Jul 2011 15:32
Last Modified:18 Jul 2011 15:32

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