MODELLING A SINGLE-WHEEL TESTBED FOR PLANETARY ROVER APPLICATIONS

被引：0

作者：

Irani, Rishad A. ^{[1
]}

Bauer, Robert J. ^{[1
]}

Warkentin, Andrew ^{[1
]}

机构：

[1] Dalhousie Univ, Dept Mech Engn, Halifax, NS, Canada

来源：

PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL CONFERENCE 2010, VOL 1 | 2010年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a dynamic model for a smooth wheel travelling through loose sandy soil. Many models that are used for such wheel-soil interactions are typically static or quasi-static models. The new model builds upon these widely-used models by adding the dynamic effect of the soil deformation. The new model is validated using experiments that were carried on a new single wheel testbed which was constructed at Dalhousie University. During experiments with a smooth wheel it was noticed that the track of the wheel had repeatable ridges. Moreover, it was noticed that the corresponding torque and force data also had oscillations in it with the periods of the harmonic coinciding with the ridges in the sand left by the track of the wheel.

引用

下载

页码：181 / 188

页数：8

共 50 条

[31] Planetary gravities made simple: Sample test of a Mars rover wheel
Viera-Lopez, G.
Serrano-Munoz, A.
Amigo-Vega, J.
Cruzata, O.
Altshuler, E.
REVIEW OF SCIENTIFIC INSTRUMENTS, 2017, 88 (08):
[32] Wheel-Walking Propulsion Unit of a Planetary Rover with Active Suspension
Malenkov M.I.
Volov V.A.
Russian Engineering Research, 2017, 37 (12) : 1033 - 1040
[33] Analysis of traction trafficability of diameter-variable wheel for planetary rover
Sun, Peng
Gao, Feng
Li, Wen
Sun, Gang
Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics, 2007, 33 (12): : 1404 - 1407
[34] Design of a wheel test bed for a planetary exploration rover and driving experiment
Department of Aerospace Engineering, Chonbuk National University, Korea, Republic of
J. Inst. Control Rob. Syst., 4 (372-377): : 372 - 377
[35] A NONLINEAR VOLUMETRIC CONTACT MODEL FOR PLANETARY ROVER WHEEL/SOIL INTERACTION
Petersen, Willem
McPhee, John
PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2013, VOL 7A, 2014,
[36] Experimental Validation of a Volumetric Planetary Rover Wheel/Soil Interaction Model
Petersen, Willem
McPhee, John
JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS, 2015, 10 (05):
[37] EXPERIMENTAL VALIDATION OF A VOLUMETRIC PLANETARY ROVER WHEEL/SOIL INTERACTION MODEL
Petersen, Willem
McPhee, John
PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2013, VOL 1, 2014,
[38] Soil Displacement Terramechanics for Wheel-Based Trenching with a Planetary Rover
Pavlov, Catherine
Johnson, Aaron M.
2019 INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2019, : 4760 - 4766
[39] Analysis and Test of the Driving Wheel of Planetary Rover in Simulated Lunar Surface
Huang, Yuxin
Wang, Tongyu
Lin, Lin
Wang, Limeng
Zhang, Hu
ADVANCES IN MACHINING AND MANUFACTURING TECHNOLOGY XII, 2014, 589-590 : 701 - 707
[40] Wheel-terrain contact modeling in the roams planetary rover simulation
Sohl, Garett
Jain, Abhinandan
Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Vol 6, Pts A-C, 2005, : 89 - 97

← 1 2 3 4 5 →