Mars Exploration Rovers (MERs) experienced mobility challenges when crossing wind-blown ripples and deformable sands while exploring Martian terrain. Analysis of MER wheel mobility using a 3D discrete element method (DEM) model indicate three stages of mobility: (1) low slip (< 30% slip) defined by soil strength, (2) intermediate slip (30-60% slip) defined by residual soil strength and (3) high slip > 60% slip) defined by residual soil strength and depth of wheel sinkage. MER wheel sinkage and drawbar pull increased then decreased during contact between soil and the wheel tie-down patch, compared to wheel cleats, in high slip conditions, but had little affect on overall wheel mobility. DEM simulations well describe intermediate and high slip average wheel sinkage and replicate the signature of drawbar pull and sinkage for the tie-down patch, but not its magnitude. Improved DEM simulation accuracy can be achieved by using smaller polyhedral particles to represent soil.


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    Title :

    Discrete Element Method Simulations of Mars Exploration Rover Wheel High-Slip Mobility Tests



    Conference:

    Earth and Space 2014 ; 2014 ; St. Louis, Missouri


    Published in:

    Publication date :

    2015-06-15




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




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