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MULTI-PARAMETER ROVER WHEEL AND GROUSER OPTIMIZATION FOR DEPLOYMENT IN PHOBOS MILLI-G ENVIRONMENT

Buchele, Felix and Lichtenheldt, Roy (2020) MULTI-PARAMETER ROVER WHEEL AND GROUSER OPTIMIZATION FOR DEPLOYMENT IN PHOBOS MILLI-G ENVIRONMENT. In: iSAIRAS 2020: International Symposium on Artificial Intelligence, Robotics and Automation in Space. iSAIRAS 2020, 19.-23.10.2020, virtuell online.

Full text not available from this repository.

Official URL: https://www.hou.usra.edu/meetings/isairas2020fullpapers/pdf/5016.pdf

Abstract

This paper investigates wheeled locomotion in milli-g environments and specifically the wheeled locomotion of a small rover which is supposed to be deployed on Phobos as part of the Martian Moons eXploration mis-sion. Several wheel geometry parameters and driving scenarios are considered and are simulated using a Discrete Element Method tool. As a result, design guidelines for wheeled locomotion in milli-g environ-ments are developed and the differences between lo-comotion in low gravity and high gravity environ-ments are highlighted. Furthermore, an optimized wheel geometry for use on Phobos is presented.

Item URL in elib:https://elib.dlr.de/136816/
Document Type:Conference or Workshop Item (Speech)
Title:MULTI-PARAMETER ROVER WHEEL AND GROUSER OPTIMIZATION FOR DEPLOYMENT IN PHOBOS MILLI-G ENVIRONMENT
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Buchele, FelixFelix.Buchele (at) dlr.deUNSPECIFIED
Lichtenheldt, RoyRoy.Lichtenheldt (at) dlr.dehttps://orcid.org/0000-0002-2539-4910
Date:October 2020
Journal or Publication Title:iSAIRAS 2020: International Symposium on Artificial Intelligence, Robotics and Automation in Space
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:DEM, particle simulation, robotic, exploration, rover, MMX, Phobos
Event Title:iSAIRAS 2020
Event Location:virtuell online
Event Type:international Conference
Event Dates:19.-23.10.2020
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: Lichtenheldt, Roy
Deposited On:23 Oct 2020 14:49
Last Modified:23 Oct 2020 14:49

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