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SCM - A Novel Approach for Soil Deformation in a Modular Soil Contact Model for Multibody Simulation

Buse, Fabian and Lichtenheldt, Roy and Krenn, Rainer (2016) SCM - A Novel Approach for Soil Deformation in a Modular Soil Contact Model for Multibody Simulation. In: IMSD2016 e-Proceedings. The Fourth Joint International Conference on Multibody System Dynamics, 29. Mai - 02. Juni 2016, Montréal, Canada. ISBN 978-0-9682827-9-3

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Abstract

The locomotion performance of rovers has become increasingly important in space robotics. To simulate situations, like the mmobilization of a rover in granular soils, tools capable of simulating the interaction of wheels with soft sandy unstructured terrain are needed. In order to examine the influences of terramechanical effects, like multi-pass or rutting, on rover system level precise, but yet efficient models are needed. The Soil Contact Model (SCM) is designed to model these effects efficiently and incorporate them into multibody simulations. SCM was first introduced in 2008. Recent developments were focused on a new soil deformation algorithm based on theoretical soil mechanics. This article presents functional principle of SCM and focuses on the novel soil deformation approach.

Item URL in elib:https://elib.dlr.de/105163/
Document Type:Conference or Workshop Item (Speech)
Title:SCM - A Novel Approach for Soil Deformation in a Modular Soil Contact Model for Multibody Simulation
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Buse, Fabianfabian.buse (at) dlr.deUNSPECIFIED
Lichtenheldt, RoyRoy.Lichtenheldt (at) dlr.dehttps://orcid.org/0000-0002-2539-4910
Krenn, RainerRainer.Krenn (at) dlr.deUNSPECIFIED
Date:May 2016
Journal or Publication Title:IMSD2016 e-Proceedings
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
ISBN:978-0-9682827-9-3
Status:Published
Keywords:Wheel-ground interaction – Terramechanics – Soil contact – Planetary exploration
Event Title:The Fourth Joint International Conference on Multibody System Dynamics
Event Location:Montréal, Canada
Event Type:international Conference
Event Dates:29. Mai - 02. Juni 2016
Organizer:McGill University
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
Deposited By: Buse, Fabian
Deposited On:12 Jul 2016 13:35
Last Modified:11 Oct 2018 11:22

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