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Planetary rover locomotion on soft granular soils - Efficient adaption of the rolling behaviour of nonspherical grains for discrete element simulations

Lichtenheldt, Roy and Schaefer, Bernd (2013) Planetary rover locomotion on soft granular soils - Efficient adaption of the rolling behaviour of nonspherical grains for discrete element simulations. In: Particle-based Methods III - Fundamentals and Applications, 3, pp. 807-818. International Center for Numerical Methods in Engineering (CIMNE). III International Conference on Particle-based Methods - Fundamentals and Applications, 18-20 Sep 2013, Stuttgart, Germany. ISBN 978-84-941531-8-1

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Abstract

In consequence of growing interests of science exploration on our solar system’s planets and moons, increased mobility demands are arising for planetary exploration vehicles. The locomotion capabilities of these systems strongly depend on the interaction with soft granular soils. Thus a major design challenge is to develop suitable solutions for locomotion equipment and strategies. The mastering of these challenges depends on detailed soil interaction models to predict the system behaviour and get a better understanding of the underlying effects. To meet these demands a new soil interaction model based on the three-dimensional Discrete Element Method (DEM) is developed. The strength of granular materials is highly dependent on the grain’s shape and friction. Since non-spherical particles are less computational efficient than spheres, a new interparticle contact model has been developed to mathematically cover the rotational behaviour of anisotropically elongated and angular grains, while using computationally efficient spheres for contact detection. To show the applicability of the model, bevameter as well as single wheel simulations for planetary rovers were carried out.

Item URL in elib:https://elib.dlr.de/84367/
Document Type:Conference or Workshop Item (Speech)
Title:Planetary rover locomotion on soft granular soils - Efficient adaption of the rolling behaviour of nonspherical grains for discrete element simulations
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Lichtenheldt, RoyDLR-RMCUNSPECIFIED
Schaefer, BerndDLR-RMCUNSPECIFIED
Date:18 September 2013
Journal or Publication Title:Particle-based Methods III - Fundamentals and Applications
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Volume:3
Page Range:pp. 807-818
Editors:
EditorsEmail
Bischoff, ManfredUNSPECIFIED
Ramm, EkkehardUNSPECIFIED
Onate, EugenioUNSPECIFIED
Owen, RogerUNSPECIFIED
Wriggers, PeterUNSPECIFIED
Publisher:International Center for Numerical Methods in Engineering (CIMNE)
Series Name:Particle-based Methods
ISBN:978-84-941531-8-1
Status:Published
Keywords:discrete element method, DEM, particle, Partikel, planetary rover, single wheel, bevameter, simulation, optimization
Event Title:III International Conference on Particle-based Methods - Fundamentals and Applications
Event Location:Stuttgart, Germany
Event Type:international Conference
Event Dates:18-20 Sep 2013
Organizer:University of Stuttgart
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:07 Oct 2013 09:29
Last Modified:31 Jul 2019 19:42

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