Parametric analysis of lugged wheel performance for a lunar microrover by means of DEM

Nakashima, Hiroshi; Fujii, Hiroaki; Oida, Akira; Momozu, M.; Kawase, Y.; Kanamori, H.; Aoki, Shigeru; Yokoyama, T.

doi:10.1016/j.jterra.2005.11.001

Cited by 89 publications

(45 citation statements)

References 5 publications

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“…The capability of precise and detailed applications of large-scale DEM for interaction analysis was also investigated (11) . There were many reports on performance prediction of a lugged rigid wheel by the originally developed DEM program (12) - (14) or by the commercially available code, PFC2D (15) .…”

Section: Introductionmentioning

confidence: 99%

Analysis of Tire Tractive Performance on Deformable Terrain by Finite Element-Discrete Element Method

Nakashima

Takatsu

2008

JCST

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The goal of this study is to develop a practical and fast simulation tool for soil-tire interaction analysis, where finite element method (FEM) and discrete element method (DEM) are coupled together, and which can be realized on a desktop PC. We have extended our formerly proposed dynamic FE-DE method (FE-DEM) to include practical soil-tire system interaction, where not only the vertical sinkage of a tire, but also the travel of a driven tire was considered. Numerical simulation by FE-DEM is stable, and the relationships between variables, such as load-sinkage and sinkage-travel distance, and the gross tractive effort and running resistance characteristics, are obtained. Moreover, the simulation result is accurate enough to predict the maximum drawbar pull for a given tire, once the appropriate parameter values are provided. Therefore, the developed FE-DEM program can be applied with sufficient accuracy to interaction problems in soil-tire systems.

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Section: Introductionmentioning

confidence: 99%

Analysis of Tire Tractive Performance on Deformable Terrain by Finite Element-Discrete Element Method

Nakashima

Takatsu

2008

JCST

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“…Nakashima et al from Kyoto University developed a numerical tool using DEM, whose accuracy was validated by experiment, to simulate the performance of the lugged wheels designed for a lunar microrover, specifically for the interactions between the lugged wheels and soil. The DEM analysis indicated that, on a flat horizontal lunar surface, wheels with 18 10-mm-high lugs would provide less net traction than wheels with 36 5-mm-high lugs [86]. Sun from the Beijing University of Aeronautics and Astronautics obtained the relationship between the mesomechanics and macrotraction parameters using the methods of projection transform and accumulative summation for DEM simulation, the results of which were validated by conventional terramechanics theory.…”

Section: Current Research On Planetary Rovers' Terramechanicsmentioning

confidence: 93%

Planetary rovers’ wheel–soil interaction mechanics: new challenges and applications for wheeled mobile robots

Ding

Deng

Gao

et al. 2010

Intel Serv Robotics

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With the increasing challenges facing planetary exploration missions and the resultant increase in the performance requirements for planetary rovers, terramechanics (wheel-soil interaction mechanics) is playing an important role in the development of these rovers. As an extension of the conventional terramechanics theory for terrestrial vehicles, the terramechanics theory for planetary rovers, which is becoming a new research hotspot, is unique and puts forward many new challenging problems. This paper first discusses the significance of the study of wheel-soil interaction mechanics of planetary rovers and summarizes the differences between planetary rovers and terrestrial vehicles and the problems arising thereof. The application of terramechanics to the development of planetary rovers can be divided into two phases (the R&D phase and exploration phase for rovers) corresponding to the high-fidelity and simplified terramechanics models. This paper also describes the current research status by providing an introduction to classical terramechanics and the experimental, theoretical, and numerical researches on terramechanics for planetary rovers. The application status of the terramechanics for planetary rovers is analyzed from the aspects of rover design, performance evaluation, planetary soil parameter identification, dynamics simulation, mobility control, and path planning. Finally, the key issues for future research are discussed. The current planetary rovers are actually advanced wheeled mobile robots (WMRs), developed employing cutting-edge technologies from different fields. The terramechanics for planetary rovers is expected to present new challenges and applications for WMRs, making it possible to develop WMRs using the concepts of mechanics and dynamics.

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“…The empirical method uses a practical measurement of soil strength with a specialized apparatus, such as a cone index (CI) [67], which is often used for an in situ prediction of vehicle traversability. The numerical method includes the finite-element method and discrete-element method that simulate soil deformation and vehicle-terrain interaction behavior with computer technology [72][73][74].…”

Section: Wheel-terrain Interaction Mechanicsmentioning

confidence: 99%

Space Robotics

Yoshida

Nenchev

Ishigami

et al. 2014

The International Handbook of Space Technology

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Parametric analysis of lugged wheel performance for a lunar microrover by means of DEM

Cited by 89 publications

References 5 publications

Analysis of Tire Tractive Performance on Deformable Terrain by Finite Element-Discrete Element Method

Analysis of Tire Tractive Performance on Deformable Terrain by Finite Element-Discrete Element Method

Planetary rovers’ wheel–soil interaction mechanics: new challenges and applications for wheeled mobile robots

Space Robotics

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