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Experimental Validation of Distinct Element Simulation for Dynamic Wheel-Soil Interaction
2005 Tampa, FL July 17-20, 2005, 2005The most common discontinuum modeling technique, Distinct Element Method (DEM), was used to study the deformation behavior of the soil during dynamic wheel-soil interaction. In 2-Dimensional model, the number of soil particles which can be used in simulation program were considerably much less than the actual number of particles present in the ...
null Lav Ramchandra Khot +2 more
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Prediction of wheel-soil interaction and performance using the finite element method
Journal of Terramechanics, 1976Abstract In this experimental-analytical study of wheel-soil interaction, a technique based on the finite element method is used for predicting continuous wheel performance and subsoil response behaviour. The evaluation of wheel-soil interaction performance at any degree of slip is performed using energy principles.
R.N. Yong, E.A. Fattah
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PLANETARY ROVER MOBILITY: WHEEL-SOIL INTERACTION BASED ON MULTIBODY SYSTEM APPROACH
IFAC Proceedings Volumes, 2007Abstract 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.
Bernd Schäfer, Andreas Gibbesch
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Modeling of Lunar Rover Vehicle Wheel-Soil Interaction Using Fem-Dem Method
Proceedings of the 11th Asia-Pacific Regional Conference of the ISTVS, 2022Apollo Lunar Rover Vehicle (LRV) used wire mesh wheels to adapt to the loose and soft soil conditions on the lunar surface, aimed to meet the mobility performance of LRV on the moon. Therefore, it is of great significance to study the wheel-soil interaction characteristics of the wire mesh wheel to improve the maneuverability and traction performance ...
Kaidi Zhang +3 more
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Experimental validation of distinct element simulation for dynamic wheel–soil interaction
Journal of Terramechanics, 2007Abstract The deformation behaviour of the soil during dynamic wheel–soil interaction was studied by using the discontinuum modelling technique, distinct or discrete element method (DEM). The simulation model was developed using DEM for two types of soil, soil-A (coarse sand) and soil-B (medium sand).
Lav R. Khot +3 more
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A Novel Wheel-Soil Interaction Model for Off-Road Vehicle Dynamics Simulation
Volume 3: 19th International Conference on Design Theory and Methodology; 1st International Conference on Micro- and Nanosystems; and 9th International Conference on Advanced Vehicle Tire Technologies, Parts A and B, 2007This work establishes a semi-empirical wheel-soil interaction model, developed in the framework of plasticity theory and equilibrium analysis, to be used in vehicle dynamics simulations. Vehicle-terrain interaction is a complex phenomena governed by soil mechanical behavior and tire deformation.
Brendan J. Chan, Corina Sandu
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2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009
Identifying planetary soil parameters is not only an important scientific goal, but also necessary for exploration rover to optimize its control strategy and realize high-fidelity simulation. An improved wheel-soil interaction mechanics model is introduced, and it is then simplified by linearizing the normal stress and shearing stress to derive closed ...
Liang Ding 0001 +4 more
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Identifying planetary soil parameters is not only an important scientific goal, but also necessary for exploration rover to optimize its control strategy and realize high-fidelity simulation. An improved wheel-soil interaction mechanics model is introduced, and it is then simplified by linearizing the normal stress and shearing stress to derive closed ...
Liang Ding 0001 +4 more
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Intelligent Service Robotics, 2010
With the increasing challenges facing planetary exploration missions and the resultant increase in the performance requirements for planetary rovers, terramechanics (wheel---soil interaction mechanics) is playing an important role in the development of these rovers. As an extension of the conventional terramechanics theory for terrestrial vehicles, the
Liang Ding 0001 +4 more
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With the increasing challenges facing planetary exploration missions and the resultant increase in the performance requirements for planetary rovers, terramechanics (wheel---soil interaction mechanics) is playing an important role in the development of these rovers. As an extension of the conventional terramechanics theory for terrestrial vehicles, the
Liang Ding 0001 +4 more
openaire +1 more source
2019 International Conference on Robotics and Automation (ICRA), 2019
Mitigating potential hazards for planetary rovers posed by soft soils requires testing in representative environments such as with Martian soil simulants in reduced gravity. This work describes the experimentation, methods, and results of a rover-soil visualization technique that produced rich datasets of reduced gravity wheel-terrain interaction.
Parna Niksirat +2 more
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Mitigating potential hazards for planetary rovers posed by soft soils requires testing in representative environments such as with Martian soil simulants in reduced gravity. This work describes the experimentation, methods, and results of a rover-soil visualization technique that produced rich datasets of reduced gravity wheel-terrain interaction.
Parna Niksirat +2 more
openaire +1 more source