| Autor: |
Kita, Keita, Arai, Tomoya, Tsuchiya, Kei, Kon, Seiji, Katayama, Masahiro, Ozaki, Shingo |
| Předmět: |
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| Zdroj: |
Discover Mechanical Engineering; 6/13/2024, Vol. 3 Issue 1, p1-17, 17p |
| Abstrakt: |
In the development of lunar and planetary exploration rovers, risk assessment in on-site environments comprising fine regoliths and unevenly distributed rocks is essential. To prevent a rover from being stuck during its operation, one must understand the behavior of its wheel when it climbs over rigid obstacles in off-road environments. In this study, we apply an extended terramechanics model, which can reasonably describe the interaction between soft ground and vehicles, to analyze the obstacle-climbing behavior of rigid wheels. To describe the interaction between the wheel and a hard obstacle, we combine the penalty method with the extended terramechanics model. Subsequently, we verify the effectiveness of the proposed method by comparing its results with those of a traversing single wheel obtained from a laboratory experiment. Furthermore, we use the model to perform a multibody dynamics analysis on a simple rover, where its applicability to the examination of the overall performance of obstacle climbing is demonstrated. [ABSTRACT FROM AUTHOR] |
| Databáze: |
Complementary Index |
| Externí odkaz: |
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