For the multibody simulation of planetary rover operations, a wheel–soil contact model is necessary to represent the forces and moments between the tire and the soft soil. A novel nonlinear contact modeling approach based on the properties of the hypervolume of interpenetration is validated in this paper. This normal contact force model is based on the Winkler foundation model with nonlinear spring properties. To fully define the proposed normal contact force model for this application, seven parameters are required. Besides the geometry parameters that can be easily measured, three soil parameters representing the hyperelastic and plastic properties of the soil have to be identified. Since it is very difficult to directly measure the latter set of soil parameters, they are identified by comparing computer simulations with experimental results of drawbar pull tests performed under different slip conditions on the Juno rover of the Canadian Space Agency (CSA). A multibody dynamics model of the Juno rover including the new wheel/soil interaction model was developed and simulated in maplesim. To identify the wheel/soil contact model parameters, the cost function of the model residuals of the kinematic data is minimized. The volumetric contact model is then tested by using the identified contact model parameters in a forward dynamics simulation of the rover on an irregular three-dimensional terrain and compared against experiments.
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September 2015
Research-Article
Experimental Validation of a Volumetric Planetary Rover Wheel/Soil Interaction Model
Willem Petersen,
Willem Petersen
Department of Systems Design Engineering,
e-mail: wpeterse@uwaterloo.ca
University of Waterloo
,Waterloo, Ontario N2L 3G1
, Canada
e-mail: wpeterse@uwaterloo.ca
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John McPhee
John McPhee
Department of Systems Design Engineering,
e-mail: mcphee@uwaterloo.ca
University of Waterloo
,Waterloo, Ontario N2L 3G1
, Canada
e-mail: mcphee@uwaterloo.ca
Search for other works by this author on:
Willem Petersen
Department of Systems Design Engineering,
e-mail: wpeterse@uwaterloo.ca
University of Waterloo
,Waterloo, Ontario N2L 3G1
, Canada
e-mail: wpeterse@uwaterloo.ca
John McPhee
Department of Systems Design Engineering,
e-mail: mcphee@uwaterloo.ca
University of Waterloo
,Waterloo, Ontario N2L 3G1
, Canada
e-mail: mcphee@uwaterloo.ca
Contributed by the Design Engineering Division of ASME for publication in the JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS. Manuscript received June 19, 2013; final manuscript received November 25, 2014; published online April 2, 2015. Assoc. Editor: Parviz Nikravesh.
J. Comput. Nonlinear Dynam. Sep 2015, 10(5): 051001 (12 pages)
Published Online: September 1, 2015
Article history
Received:
June 19, 2013
Revision Received:
November 25, 2014
Online:
April 2, 2015
Citation
Petersen, W., and McPhee, J. (September 1, 2015). "Experimental Validation of a Volumetric Planetary Rover Wheel/Soil Interaction Model." ASME. J. Comput. Nonlinear Dynam. September 2015; 10(5): 051001. https://doi.org/10.1115/1.4029257
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