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Design of an Automated Regolith Preparation Process for Rover Locomotion Experiments

Mack, Christian (2018) Design of an Automated Regolith Preparation Process for Rover Locomotion Experiments. Master's, Hochschule München.

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The rover locomotion on different planetary surfaces is an important topic in the current research. In order to test the rover wheel designs and verify wheel-soil contact models, test stands are build. These test stands use one rover wheel, which can be driven in planetary soil simulants. To create consistent initial test condition, the soil has to be prepared for each experiment. The state of the art preparation is manual work. It is elaborate and due to the individual worker inconsistent. In a new robotic singel-wheel testbed (SWT), a automated preparation process is desired to achieve reliable and reproducible soil conditions. In this thesis, an automated soil preparation process is developed. Therefore, the current manual procedure is analyzed and categorized in three major steps: loosening, leveling and compaction. The loosening procedure removes the load history of the soil. The leveling creates an even surface and the compaction restores desired soil conditions. This information is used to define the requirements for an automated process. In the next step possible concepts are created and rated. This results in two final preparation concepts for three different kind of planetary soil simulants. The first one is for more fine sands and consists of an air system, which blows air through the soil to loosen it. The achieved surface is already even and the leveling can be skipped. The compaction is done with a board that is pressed on top of the soil surface, performed by the industrial robot of the test stand. The second concept is for a soil with bigger particles. It consists of tillage tines, which are moved through the soil by the robot. Subsequently, the soil is leveled with a perpendicular to the surface orientated plate that is moved over the soil. All developed concepts are tested and validated with prototypes in order to prove the fulfillment of the requirements.

Item URL in elib:https://elib.dlr.de/121792/
Document Type:Thesis (Master's)
Title:Design of an Automated Regolith Preparation Process for Rover Locomotion Experiments
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Date:13 July 2018
Refereed publication:No
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Number of Pages:111
Keywords:Robotics, Terramechanics, Soil Preparation
Institution:Hochschule München
Department:Department of Mechanical, Automotive and Aeronautical Engineering
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 - Project Morex
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Space System Dynamics
Deposited By: Buse, Fabian
Deposited On:11 Oct 2018 11:31
Last Modified:12 Jul 2019 13:33

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