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Modelling of planetary rovers by means of a dynamical system approach with respect to mobility requirements

Gibbesch, Andreas and Schäfer, Bernd (2006) Modelling of planetary rovers by means of a dynamical system approach with respect to mobility requirements. 10th European Conference of the ISTVS 2006, 2006-10-03 - 2006-10-06, Budapest, Hungary.

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Abstract

The term of terramechanics is somewhat deceptive when used in conjunction with planetary exploration rovers but the field of application is comparable to off-road vehicles on earth. In contrast to classical off-road vehicle design the challenge of vehicle design for extraterrestrical exploration requires immense research effort due to the demand for mobility and the absence of engagement possibilities with the vehicle. Therefore autonomous vehicles with optimised mobility performance are needed for future missions and hence tools for design, layout and multiobjective optimisations are needed to fullfil mission requirements without having the possibility to conduct hardware tests in the later working environment. The definition of vehicle performance in rough and soft soil terrain can be distinguished by the terms of trafficability, manoeuvrability and terrainability. Trafficability, which is a robot's ability to traverse soft soils or hard ground without loss of traction, is the main subject of investigation for the presented multibody system (MBS) simulation approach.

Item URL in elib:https://elib.dlr.de/44991/
Document Type:Conference or Workshop Item (Speech, Paper)
Title:Modelling of planetary rovers by means of a dynamical system approach with respect to mobility requirements
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Gibbesch, AndreasUNSPECIFIEDUNSPECIFIED
Schäfer, BerndUNSPECIFIEDUNSPECIFIED
Date:2006
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:soft soil wheel slip, multibody system (MBS) simulation, planetary rover
Event Title:10th European Conference of the ISTVS 2006
Event Location:Budapest, Hungary
Event Type:international Conference
Event Dates:2006-10-03 - 2006-10-06
Organizer:ISTVS
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:V SH - Verbesserung der Sicherheit im Verkehr (old)
DLR - Research area:Transport
DLR - Program:V SH - Verbesserung der Sicherheit im Verkehr
DLR - Research theme (Project):V - ViFa (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012) > System Dynamics and Control (former Control Design Engineering)
Deposited By: Klauer, Monika
Deposited On:26 Oct 2006
Last Modified:12 Dec 2013 20:21

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