Ono, Shoko und Lichtenheldt, Roy und Yoshida, Kazuya (2021) Soil Flow Analysis for Planetary Rovers Based on Particle Image Velocimetry and Discrete Element Method. In: Proceedings of the ISTVS 20th International Conference. International Society for Terrain-Vehicle Systems (ISTVS). ISTVS 20th International Conference, 2021-09-27 - 2021-09-29, Montreal (online), Canada.
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Kurzfassung
Planetary rovers commonly have grouser wheels to improve locomotion performance on deformable terrains such as the surfaces of the Moon or Mars. The biggest difference between the wheel with grousers and without grousers is soil behavior underneath the wheel since the grousers shovel the sand. Hence, analyzing soil flow gives us beneficial information on wheel-soil interaction. The detailed investigation for micro-scale soil behavior and gravity effect, which are difficult to see in the laboratory test, contributes to further understanding of wheel-soil interaction mechanics. This paper presents a two-dimensional discrete element method (DEM) simulation to analyze soil flow beneath the grouser wheel. The soil flow in the simulation is validated by comparing it with that of the measurements, which is visualized by particle image velocimetry (PIV). The comparison results are discussed from four perspectives: 1) wheel slip ratio, 2) traces formed behind the wheel travels, 3) entrance and leaving angles of the grousers, 4) soil velocity field. The results indicate that DEM could describe the soil deformation. This work would contribute to further investigations of the state inside the soil by using developed DEM simulation.
elib-URL des Eintrags: | https://elib.dlr.de/148388/ | ||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||
Titel: | Soil Flow Analysis for Planetary Rovers Based on Particle Image Velocimetry and Discrete Element Method | ||||||||||||||||
Autoren: |
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Datum: | 29 September 2021 | ||||||||||||||||
Erschienen in: | Proceedings of the ISTVS 20th International Conference | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Ja | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Nein | ||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||
Herausgeber: |
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Verlag: | International Society for Terrain-Vehicle Systems (ISTVS) | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | Discrete element method, Soil flow analysis, Grouser wheel, Particle image velocimetry | ||||||||||||||||
Veranstaltungstitel: | ISTVS 20th International Conference | ||||||||||||||||
Veranstaltungsort: | Montreal (online), Canada | ||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||
Veranstaltungsbeginn: | 27 September 2021 | ||||||||||||||||
Veranstaltungsende: | 29 September 2021 | ||||||||||||||||
Veranstalter : | International Society for Terrain-Vehicle Systems (ISTVS) | ||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Intelligente Mobilität (SR) [RO] | ||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||
Institute & Einrichtungen: | Institut für Systemdynamik und Regelungstechnik > Raumfahrt-Systemdynamik | ||||||||||||||||
Hinterlegt von: | Stubbig, Leon | ||||||||||||||||
Hinterlegt am: | 19 Jan 2022 15:07 | ||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:46 |
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