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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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AbstractIn 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/ |
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Document Type: | Conference or Workshop Item (Speech) |
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Title: | Planetary rover locomotion on soft granular soils - Efficient adaption of the rolling behaviour of nonspherical grains for discrete element simulations |
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Authors: | Authors | Institution or Email of Authors | Authors ORCID iD |
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Lichtenheldt, Roy | DLR-RMC | UNSPECIFIED | Schaefer, Bernd | DLR-RMC | UNSPECIFIED |
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Date: | 18 September 2013 |
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Journal or Publication Title: | Particle-based Methods III - Fundamentals and Applications |
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Refereed publication: | Yes |
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Open Access: | Yes |
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Gold Open Access: | No |
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In SCOPUS: | Yes |
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In ISI Web of Science: | No |
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Volume: | 3 |
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Page Range: | pp. 807-818 |
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Editors: | Editors | Email |
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Bischoff, Manfred | UNSPECIFIED | Ramm, Ekkehard | UNSPECIFIED | Onate, Eugenio | UNSPECIFIED | Owen, Roger | UNSPECIFIED | Wriggers, Peter | UNSPECIFIED |
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Publisher: | International Center for Numerical Methods in Engineering (CIMNE) |
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Series Name: | Particle-based Methods |
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ISBN: | 978-84-941531-8-1 |
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Status: | Published |
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Keywords: | discrete element method, DEM, particle, Partikel, planetary rover, single wheel, bevameter, simulation, optimization |
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Event Title: | III International Conference on Particle-based Methods - Fundamentals and Applications |
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Event Location: | Stuttgart, Germany |
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Event Type: | international Conference |
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Event Dates: | 18-20 Sep 2013 |
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Organizer: | University of Stuttgart |
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HGF - Research field: | Aeronautics, Space and Transport |
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HGF - Program: | Space |
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HGF - Program Themes: | Space Technology |
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DLR - Research area: | Raumfahrt |
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DLR - Program: | R SY - Technik für Raumfahrtsysteme |
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DLR - Research theme (Project): | R - RMC - Mobilität und Exploration (old) |
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Location: |
Oberpfaffenhofen
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Institutes and Institutions: | Institute of System Dynamics and Control > Space System Dynamics |
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Deposited By: |
Lichtenheldt, Roy
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Deposited On: | 07 Oct 2013 09:29 |
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Last Modified: | 31 Jul 2019 19:42 |
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