In recent decades, the exploration of celestial bodies has moved to surface-based landers and rovers designed to perform experiments on the ground. The presented research focuses on legged rovers designed to climb steep slopes covered in uncompacted regolith, similar to those found on lunar crater walls. These rovers would claw into the surface using dynamic anchors on their feet. Physical testing is performed by engaging a series of anchors with lunar simulant. Multiple anchor configurations are tested and evaluated to determine the geometries with the most beneficial characteristics for dynamic anchoring. Several anchor geometries show sufficient holding forces for use on future legged exploration rovers. Additionally, two methods for predicting the anchoring forces with limited knowledge of the regolith are presented, one using discrete elements, the other regression curve-fitting. Both methods show a prediction accuracy for peak anchoring forces well within an order of magnitude.


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    Title :

    Dynamic Anchoring in Soft Regolith: Testing and Prediction


    Contributors:

    Published in:

    Publication date :

    2017-11-22




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown



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