Bouncing, Sliding and Rolling Dynamicsof a Spherical Rover Crossing a Ravine

valley;dynamics;Mars;spherical rover;tumbleweed

Hartl, Alexandre Emmanuel ; DR. ANDRE P. MAZZOLENI, Committee Chair,Hartl, Alexandre Emmanuel ; DR. ANDRE P. MAZZOLENI ; Committee Chair

University:North Carolina State University

关键词: valley;    dynamics;    Mars;    spherical rover;    tumbleweed;   

Others  :  https://repository.lib.ncsu.edu/bitstream/handle/1840.16/335/etd.pdf?sequence=1&isAllowed=y

美国|英语

来源: null

【 摘 要 】

This study presents a numerical simulation model predicting the motion of a tumbleweed rover as it encounters ravines and valleys. The research provides an understanding of the range of tumbleweed design parameters essential for mobility over varied terrain. The study also introduces a numerical model covering the rover's rolling, sliding and bouncing behaviors and the transitions between these modes of movement.A collision model based on Kane's method of dynamics is used to study the impact between the rover and flat terrain. The model is extended by considering collisions on hills, and a numerical model is created tracking the rover's motion and transition between different terrain types. Rolling and sliding models for a rover in motion are developed for flat and sloping terrains. This study includes several case studies which demonstrate the model's utility as an initial design tool for tumbleweed rovers.