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Wheel-Ground Modeling in Planetary Exploration: From Unified Simulation Frameworks Towards Heterogeneous, Multi-tier Wheel Ground Contact Simulation

Lichtenheldt, Roy and Barthelmes, Stefan and Buse, Fabian and Hellerer, Matthias (2016) Wheel-Ground Modeling in Planetary Exploration: From Unified Simulation Frameworks Towards Heterogeneous, Multi-tier Wheel Ground Contact Simulation. In: Multibody Dynamics - Computational Methods and Application Computational Methods in Applied Sciences, 42. Springer. pp. 165-192. ISBN 978-3-319-30612-4.

Full text not available from this repository.

Official URL: http://link.springer.com/book/10.1007/978-3-319-30614-8

Abstract

Today’s growing scientific interest in extraterrestrial bodies increases the necessity of extended mobility on these objects. Thus, planetary exploration systems are facing new challenges in terms of mission planning as well as obstacle and soil traversability. In order to fit the tight schedules of space missions and to cover a large variety of environmental conditions, experimental test setups are complemented by numerical simulation models used as virtual prototypes. In this context we present an integrated simulation environment which allows for using different available contact models, ranging from simple but real-time capable approximations based on rigid-body modeling techniques up to very accurate solutions based on Discrete Element Method (DEM). The models are explained and classified for their applications. For this work, a one-point Bekker based approach (BCM) and the so-called Soil Contact Model (SCM), which is a multi-point extension of the Bekker–Wong method taking soil deformation into account, are used for further analysis. These two contact models are applied for homogeneous simulations with only one type of contact model for all wheels as well as for a heterogeneous multi-tiered simulation with different contact models for the wheels. It will be shown that the multi-tiered approach enhances the simulation result accuracy compared to the results of a homogeneous model with a low level of detail while speeding up the simulation in comparison to a homogeneous higher-tier model.

Item URL in elib:https://elib.dlr.de/103990/
Document Type:Contribution to a Collection
Title:Wheel-Ground Modeling in Planetary Exploration: From Unified Simulation Frameworks Towards Heterogeneous, Multi-tier Wheel Ground Contact Simulation
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Lichtenheldt, RoyDLR-SRUNSPECIFIED
Barthelmes, StefanDLR-SRUNSPECIFIED
Buse, FabianDLR-SRUNSPECIFIED
Hellerer, MatthiasMatthias.Hellerer (at) dlr.deUNSPECIFIED
Date:13 April 2016
Journal or Publication Title:Multibody Dynamics - Computational Methods and Application
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Volume:42
DOI :10.1007/978-3-319-30614-8_8
Page Range:pp. 165-192
Editors:
EditorsEmail
Font-Llagunes, Josep M.UNSPECIFIED
Publisher:Springer
Series Name:Computational Methods in Applied Sciences
ISBN:978-3-319-30612-4
Status:Published
Keywords:Wheel-ground interaction – Terramechanics – Soil contact – Multi-tier modeling – Planetary exploration
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Robotische Exploration (old), R - Vorhaben Robotische Explorationstechnologie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Space System Dynamics
Deposited By: Lichtenheldt, Roy
Deposited On:30 May 2016 15:35
Last Modified:25 Jan 2017 17:23

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