Buse, Fabian und Pignede, Antoine Francois Xavier und Barthelmes, Stefan (2023) A Modelica Library to Add Contact Dynamics and Terramechanics to Multi-Body Mechanics. In: Proceedings of the 15th International Modelica Conference, 204. Modelica Association and Linköping Electronic Conference Proceedings. 15th International Modelica Conference, 2023-10-09 - 2023-10-11, Aachen, Germany. doi: 10.3384/ecp204433. ISBN 978-91-8075-505-4. ISSN 1650-3686.
![]() |
PDF
4MB |
Kurzfassung
The Contact Dynamics library extends the multi-body Modelica Standard Library with contact calculation to the environment, namely soft soil and hard obstacles. A focus is on terramechanics, i. e. wheels driving on soft and dry soil, and a handful of models are implemented. Additionally, a Hertz contact model for hard and elastic contact, between bodies themselves or to obstacles in the environment (e. g. rocks in the soft soil), is available as well. The capabilities of the library have been key in the development of rovers for planetary exploration such as the upcoming MMX mission to the Martian moon Phobos.
elib-URL des Eintrags: | https://elib.dlr.de/200107/ | ||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||
Titel: | A Modelica Library to Add Contact Dynamics and Terramechanics to Multi-Body Mechanics | ||||||||||||||||
Autoren: |
| ||||||||||||||||
Datum: | 11 Oktober 2023 | ||||||||||||||||
Erschienen in: | Proceedings of the 15th International Modelica Conference | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Ja | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Nein | ||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||
Band: | 204 | ||||||||||||||||
DOI: | 10.3384/ecp204433 | ||||||||||||||||
Verlag: | Modelica Association and Linköping Electronic Conference Proceedings | ||||||||||||||||
Name der Reihe: | Linköping Electronic Conference Proceedings | ||||||||||||||||
ISSN: | 1650-3686 | ||||||||||||||||
ISBN: | 978-91-8075-505-4 | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | Multi-Body mechanics, Contact dynamics, Terramechanics, Modelica library with external code | ||||||||||||||||
Veranstaltungstitel: | 15th International Modelica Conference | ||||||||||||||||
Veranstaltungsort: | Aachen, Germany | ||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||
Veranstaltungsbeginn: | 9 Oktober 2023 | ||||||||||||||||
Veranstaltungsende: | 11 Oktober 2023 | ||||||||||||||||
Veranstalter : | Modelica Association | ||||||||||||||||
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 - Terramechanik | ||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||
Institute & Einrichtungen: | Institut für Systemdynamik und Regelungstechnik > Raumfahrt-Systemdynamik | ||||||||||||||||
Hinterlegt von: | Buse, Fabian | ||||||||||||||||
Hinterlegt am: | 30 Nov 2023 17:15 | ||||||||||||||||
Letzte Änderung: | 24 Apr 2024 21:00 |
Nur für Mitarbeiter des Archivs: Kontrollseite des Eintrags