To investigate the kinematic and dynamic performance of lunar rover running on loose soil, and predict its motion behaviors, a model of lunar rover is established based on plastoelastic terramechanics and multibody dynamics. The constraints of the joints are analyzed to obtain constraint forces, the simplified Bekker's terramechanics are used to solve the forces between wheels and the terrain. A method based on virtual points detection is presented to detect the contact relationship and evaluate the geometrical parameters between the wheels and the terrain, more accurate geometrical parameters are obtained by static balance. A simulation platform is developed, with drive torques and steering torques of wheels as input, rover attitude and wheel-terrain forces as output. The experimental results show that the model has good kinematic and dynamic performance.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Modeling and simulation for lunar rover based on terramechanics and multibody dynamics


    Contributors:
    Tian, Xiaoer (author) / Ju, Hehua (author)


    Publication date :

    2013-07-01


    Size :

    532243 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Terramechanics of a Micro Lunar Rover

    Kanamori, H. / Aoki, S. / Nakashima, H. | ASCE | 2004


    Terramechanics of a Micro Lunar Rover

    Kanamori, H. / Aoki, S. / Nakashima, H. et al. | British Library Conference Proceedings | 2004



    ROSTDyn: Rover simulation based on terramechanics and dynamics

    Li, Weihua / Ding, Liang / Gao, Haibo et al. | Elsevier | 2013


    Terramechanics Model and Motion Control Strategy Simulation for down-Slope Travel of a Lunar Rover

    Huang, Wei Dong ;Bao, Jin Song ;Xu, You Sheng | Trans Tech Publications | 2012