Discrete element modeling of a Mars Exploration Rover wheel in granular material

Knuth, Margaret A.; Johnson, Jerome Β.; Hopkins, Mark A.; Sullivan, Robert; Moore, J. M.

doi:10.1016/j.jterra.2011.09.003

Cited by 109 publications

(43 citation statements)

References 19 publications

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“…Previous studies of a MER wheel digging test and a Mars in situ scuff test (i = 1) using a 3-D DEM demonstrated that quite reasonable agreement between test data and DEM simulation results could be achieved (Knuth and Hopkins, 2011;Knuth et al, 2012). Simulation results from these studies (Knuth and Hopkins, 2011;Knuth et al, 2012) indicate that particle shape is extremely important in replicating experimental data.…”

Section: Dem Simulations For High Slip Mer Wheel Mobilitymentioning

confidence: 84%

“…Simulation results from these studies (Knuth and Hopkins, 2011;Knuth et al, 2012) indicate that particle shape is extremely important in replicating experimental data. Using spherical particles to represent the granular media was not adequate to accurately replicate wheel sinkage and torque.…”

Section: Dem Simulations For High Slip Mer Wheel Mobilitymentioning

confidence: 97%

“…To this end, DEM simulations were done for a series of single-wheel mobility tests conducted at the Massachusetts Institute of Technology's Robotic Mobility Group (MIT RMG) and compared with the MIT RMG test data. A previous use of the DEM to simulate the MER wheels excavating trenches and for scuff tests demonstrated that this model has the potential to accurately represent MER wheel performance (Knuth et al, 2012).…”

Section: Mer Mobility Modeling Needs and Approachmentioning

confidence: 99%

“…7 with the stress ratio of the best-fit DEM particle bed used in this study. The DEM particle bed stress ratio versus strain curves were obtained by simulating a geotechnical tri-axial strength test cell following the procedure of Uthus et al (2008) and Knuth et al (2012). Data from JSC 1-A are being used in this discussion, as we are unaware of any available stress ratio versus strain data for MMS.…”

Section: Coupi Simulations Of Mit Mer Wheel Drawbar Pull and Sinkage mentioning

confidence: 99%

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Discrete element method simulations of Mars Exploration Rover wheel performance

Johnson

Kulchitsky

Duvoy

et al. 2015

Journal of Terramechanics

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Mars Exploration Rovers (MERs) experienced mobility problems during traverses. Three-dimensional discrete element method (DEM) simulations of MER wheel mobility tests for wheel slips of i = 0, 0.1, 0.3, 0.5, 0.7, 0.9, and 0.99 were done to examine high wheel slip mobility to improve the ARTEMIS MER traverse planning tool. Simulations of wheel drawbar pull and sinkage MIT data for i 6 0.5 were used to determine DEM particle packing density (0.62) and contact friction (0.8) to represent the simulant used in mobility tests. The DEM simulations are in good agreement with MIT data for i = 0.5 and 0.7, with reasonable but less agreement at lower wheel slip. Three mobility stages include low slip (i < 0.3) controlled by soil strength, intermediate slip (i $ 0.3-0.6) controlled by residual soil strength, and high slip (i > 0.6) controlled by residual soil strength and wheel sinkage depth. Equilibrium sinkage occurred for i < 0.9, but continuously increased for i = 0.99. Improved DEM simulation accuracy of low-slip mobility can be achieved using polyhedral particles, rather than tri-sphere particles, to represent soil. The DEM simulations of MER wheel mobility can improve ARTEMIS accuracy.

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Section: Dem Simulations For High Slip Mer Wheel Mobilitymentioning

confidence: 84%

Section: Dem Simulations For High Slip Mer Wheel Mobilitymentioning

confidence: 97%

Section: Mer Mobility Modeling Needs and Approachmentioning

confidence: 99%

Section: Coupi Simulations Of Mit Mer Wheel Drawbar Pull and Sinkage mentioning

confidence: 99%

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Discrete element method simulations of Mars Exploration Rover wheel performance

Johnson

Kulchitsky

Duvoy

et al. 2015

Journal of Terramechanics

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“…Physics based models, especially finite element methods (FEM) and discrete element methods (DEM), have high computational costs and time requirements (Taheri et al, 2015). Despite the costs, there has been progress in the implementation of both the FEM and DEM methods for terramechanics applications (e.g., Knuth et al, 2012;Xia, 2011;Smith and Peng, 2013).…”

Section: Introductionmentioning

confidence: 99%

Development of a multi-year database to assess off-road mobility algorithms in fine-grained soils

Vahedifard

Williams

Mason

et al. 2017

IJVP

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A gap in off-road mobility is the availability of the test data necessary for the development and validation of tyre, track and soil models. This paper presents the results from a multi-year program to create the database records for off-road vehicle environments (DROVE), a consolidated database of laboratory and field test results. A fine-grained soil component was added to DROVE by compiling 2657 test results. Performance parameters including drawbar pull, motion resistance, torque, sinkage, and slip were included in the database. The database was used to evaluate the accuracy of existing algorithms used in the vehicle-terrain interface (VTI) model. The results indicated that the VTI algorithms can provide reasonable predictions for a few parameters but for others, such as motion resistance, further improvements are warranted. 4 F. Vahedifard et al.The DROVE dataset can be used for several applications including evaluation of existing mobility models, development of improved algorithms, and validation of numerical simulations.

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Mechanics of Vehicle–Terrain Interaction

2022

Theory of Ground Vehicles

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Discrete element modeling of a Mars Exploration Rover wheel in granular material

Cited by 109 publications

References 19 publications

Discrete element method simulations of Mars Exploration Rover wheel performance

Discrete element method simulations of Mars Exploration Rover wheel performance

Development of a multi-year database to assess off-road mobility algorithms in fine-grained soils

Mechanics of Vehicle–Terrain Interaction

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