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Locomotion on Soft Granular Soils: A Discrete Element based Approach for Simulations in Planetary Exploration

Lichtenheldt, Roy and Schaefer, Bernd (2013) Locomotion on Soft Granular Soils: A Discrete Element based Approach for Simulations in Planetary Exploration. 12th Symposium on Advanced Space Technologies in Robotics and Automation: ASTRA 2013, 15. - 17 May 2013, Noordwijk, the Netherlands.

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Official URL: http://robotics.estec.esa.int/ASTRA/Astra2013/Papers/Lichtenheldt_2810735.pdf

Abstract

To meet the increasing mobility demands in planetary exploration, there is a need for further detailed soil interaction models. Therefore a simulation framework based on the three-dimensional Discrete Element Method (DEM) is developed. This approach implicitly covers the soils grain relocation and the resulting plastic deformations. The model and framework are designated to predict the dynamic interaction with soft soils for development of locomotion equipment and strategies. As the shear strength of granular matter strongly depends on interparticle friction and rotation, a new interparticle contact model is developed. For determining the particle’s contact parameters, a first procedure without the need of preliminary calibration simulations has been designed. First results, which could be used for wheel development are presented. Bevameter measurements are used to set the particles parameters as well as for verification issues.

Item URL in elib:https://elib.dlr.de/82475/
Document Type:Conference or Workshop Item (Speech, Paper)
Additional Information:original links on paper and presentation: http://robotics.estec.esa.int/ASTRA/Astra2013/Papers/Lichtenheldt_2810735.pdf http://robotics.estec.esa.int/ASTRA/Astra2013/Presentations/Lichtenheldt_2810735.pdf
Title:Locomotion on Soft Granular Soils: A Discrete Element based Approach for Simulations in Planetary Exploration
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Lichtenheldt, RoyDLR-RMCUNSPECIFIED
Schaefer, BerndDLR-RMCUNSPECIFIED
Date:17 May 2013
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:Discrete Element Method; terramechanics; planetary rover; soil interaction; mole; wheel development;
Event Title:12th Symposium on Advanced Space Technologies in Robotics and Automation: ASTRA 2013
Event Location:Noordwijk, the Netherlands
Event Type:international Conference, Workshop
Event Dates:15. - 17 May 2013
Organizer:ESA/ESTEC
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - RMC - Mobilität und Exploration (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Space System Dynamics
Deposited By: Lichtenheldt, Roy
Deposited On:08 Jul 2013 10:33
Last Modified:31 Jul 2019 19:40

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