| Autor: |
Marek Teichmann, Ali Azimi, Peter Radziszewski, József Kövecses, Jorge Angeles, Y. Gonthier, M. Courchesne, M. Hirschkorn, Bahareh Ghotbi |
| Rok vydání: |
2011 |
| Předmět: |
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| Zdroj: |
Canadian Aeronautics and Space Journal. 57:24-33 |
| ISSN: |
1712-7998 |
| DOI: |
10.5589/q11-005 |
| Popis: |
In this work, we investigate the effect of terrain modelling on the performance of planetary rovers by evaluating various design concepts under typical rover manoeuvres. The analysis is based on implementations in CMLabs’ Vortex, a dynamics simulation environment for complex mechanical systems. Vortex can be used to model the contact of wheels under various terrain conditions. The particular focus is on motion on soft terrain, investigating the physical phenomena exhibited by such terrain, and the possibility of modelling these with the primary purpose of representing the effects of the terrain on rover behaviour. Two semi-empirical terramechanics models are used to represent the effect of soft soil. The implementation of these terramechanics models in Vortex and their adaptation to fit a multibody dynamics simulation environment are explained in detail. The effects of terrain modelling approaches on the performance of rover concepts under typical rover manoeuvres are investigated. These include: (i) stra... |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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