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Improving engineering models of terramechanics for planetary exploration

Please always quote using this URN: urn:nbn:de:bvb:20-opus-202490
  • This short letter proposes more consolidated explicit solutions for the forces and torques acting on typical rover wheels, that can be used as a method to determine their average mobility characteristics in planetary soils. The closed loop solutions stand in one of the verified methods, but at difference of the previous, observables are decoupled requiring a less amount of physical parameters to measure. As a result, we show that with knowledge of terrain properties, wheel driving performance rely in a single observable only. Because of theirThis short letter proposes more consolidated explicit solutions for the forces and torques acting on typical rover wheels, that can be used as a method to determine their average mobility characteristics in planetary soils. The closed loop solutions stand in one of the verified methods, but at difference of the previous, observables are decoupled requiring a less amount of physical parameters to measure. As a result, we show that with knowledge of terrain properties, wheel driving performance rely in a single observable only. Because of their generality, the formulated equations established here can have further implications in autonomy and control of rovers or planetary soil characterization.show moreshow less

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Metadaten
Author: A. J. R. Lopez-Arreguin, S. Montenegro
URN:urn:nbn:de:bvb:20-opus-202490
Document Type:Journal article
Faculties:Fakultät für Mathematik und Informatik / Institut für Informatik
Language:English
Parent Title (English):Results in Engineering
Year of Completion:2019
Volume:3
Pagenumber:100027
Source:Results in Engineering (2019) 3:100027. https://doi.org/10.1016/j.rineng.2019.100027
DOI:https://doi.org/10.1016/j.rineng.2019.100027
Dewey Decimal Classification:0 Informatik, Informationswissenschaft, allgemeine Werke / 00 Informatik, Wissen, Systeme / 004 Datenverarbeitung; Informatik
Tag:Forces; Robotics; Terramechanics; Torque; Wheel
Release Date:2020/05/14
Collections:Open-Access-Publikationsfonds / Förderzeitraum 2019
Licence (German):License LogoCC BY-NC-ND: Creative-Commons-Lizenz: Namensnennung, Nicht kommerziell, Keine Bearbeitungen 4.0 International