| Popis: |
The importance and strenghts of Multibody System (MBS) simulation allows uniquely to investigate a wide range of potential rover configurations and mobility performance on various terrains. Moreover, the importance of the dynamical effects, primarily the suspension mechanisms, can be efficiently taken into account. The main goal of MBS simulation is to reliably predict mobility performance, to reduce the amount of costly prototypes, and to give assistance in field experiments. A great advantage is the integration of the MBS simulation and the very complex tyre-soil interaction into the vehicle's conceptual design process. This ranges from kinematic investigations for gradeability, maximum step crossing and side slope driving towards the investigations of tyre-soil interaction with respect to tyre sinkage and rolling resistance. In this paper the focus lies on the simulation of wheel forces and applied torques, and on longitudinal slip of tyres on hard and soft soil for MER and RCL-E type rovers. |
