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.
![]() |
PDF
- Only accessible within DLR
1MB |
Abstract
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 | ||||||||||||||||||||||||
Authors: |
| ||||||||||||||||||||||||
Date: | 2010 | ||||||||||||||||||||||||
Journal or Publication Title: | Proceedings | ||||||||||||||||||||||||
Refereed publication: | Yes | ||||||||||||||||||||||||
Open Access: | No | ||||||||||||||||||||||||
Gold Open Access: | No | ||||||||||||||||||||||||
In SCOPUS: | No | ||||||||||||||||||||||||
In ISI Web of Science: | No | ||||||||||||||||||||||||
Status: | Published | ||||||||||||||||||||||||
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 |
Repository Staff Only: item control page