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Multi-Body System and Contact Simulation within the Design Development of Planetary Surface Exploratin Systems

Gibbesch, Andreas and Krenn, Rainer and Herrmann, Florian and Schäfer, Bernd and Rebele, Bernhard and Allouis, Elie and Diedrich, Thomas (2010) Multi-Body System and Contact Simulation within the Design Development of Planetary Surface Exploratin Systems. In: Proceedings. ISAIRAS 2010, 29. Aug. - 01. Sept. 2010, Sapporro, Japan.

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Multi-body system simulation is capable of mechanical design optimization and evaluation of different configurations as well as simulating autonomous reconfigurable robotic systems. Within the current ExoMars project the presented simulation environment is successfully used for rover performance analysis on typical rough and sloped terrain. For the presented contact simulation methods correlations and validation during the rover design and evaluation phase efforts have been undertaken within the ExoMars study. The exploration system Marco Polo Surface Scout containing a hopping mechanism shows the capabilities of applying the simulation to non-wheeled robotic systems. Within the MoonNEXT study reconfiguration tools and sophisticated contact model approaches. The actuator models are integrated in the simulation tool chain. The performance evaluations within the multi-body system approach is conducted by means of sophisticated contact models for hard and soft soil with almost arbitrarily shaped contact surfaces.

Item URL in elib:https://elib.dlr.de/66446/
Document Type:Conference or Workshop Item (Speech, Paper)
Title:Multi-Body System and Contact Simulation within the Design Development of Planetary Surface Exploratin Systems
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Gibbesch, AndreasAndreas.Gibbesch (at) DLR.deUNSPECIFIED
Krenn, RainerRainer.Krenn (at) DLR.deUNSPECIFIED
Herrmann, FlorianFlorian.Herrmann (at) DLR.deUNSPECIFIED
Allouis, ElieEADS Astrium Ltd.UNSPECIFIED
Diedrich, ThomasEADS Astrium Ltd.UNSPECIFIED
Journal or Publication Title:Proceedings
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Keywords:multi-body systems, simulation
Event Title:ISAIRAS 2010
Event Location:Sapporro, Japan
Event Type:international Conference
Event Dates:29. Aug. - 01. Sept. 2010
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Mechatronik und Dynamik (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:22 Nov 2010 13:23
Last Modified:22 Nov 2010 13:23

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