Improving engineering models of terramechanics for planetary exploration
Zitieren Sie bitte immer diese 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.…
Autor(en): | A. J. R. Lopez-Arreguin, S. Montenegro |
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URN: | urn:nbn:de:bvb:20-opus-202490 |
Dokumentart: | Artikel / Aufsatz in einer Zeitschrift |
Institute der Universität: | Fakultät für Mathematik und Informatik / Institut für Informatik |
Sprache der Veröffentlichung: | Englisch |
Titel des übergeordneten Werkes / der Zeitschrift (Englisch): | Results in Engineering |
Erscheinungsjahr: | 2019 |
Band / Jahrgang: | 3 |
Seitenangabe: | 100027 |
Originalveröffentlichung / Quelle: | 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 |
Allgemeine fachliche Zuordnung (DDC-Klassifikation): | 0 Informatik, Informationswissenschaft, allgemeine Werke / 00 Informatik, Wissen, Systeme / 004 Datenverarbeitung; Informatik |
Freie Schlagwort(e): | Forces; Robotics; Terramechanics; Torque; Wheel |
Datum der Freischaltung: | 14.05.2020 |
Sammlungen: | Open-Access-Publikationsfonds / Förderzeitraum 2019 |
Lizenz (Deutsch): | CC BY-NC-ND: Creative-Commons-Lizenz: Namensnennung, Nicht kommerziell, Keine Bearbeitungen 4.0 International |