Dynamic Simulation Tool Development for Planetary Rovers

[摘要] A dynamic computer simulator was developed to study planetary rover mobility. The simulator was validated for step-obstacle negotiation by comparing simulation results with a quasi-static analysis of a rocker-bogie suspension. In addition, sample rover wheels were constructed and experiments were carried out on a single-wheel testbed to help validate the simulator. It is concluded that to fully validate such a complex simulation tool requires experimental data from a full-size rover chassis.

[学科分类] 自动化工程

[关键词] computer simulation;planetary rovers;wheel-soil interaction;experimental validation