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| Content Provider | The American Society of Mechanical Engineers (ASME) Digital Collection |
|---|---|
| Author | Petersen, Willem Mcphee, John |
| Copyright Year | 2013 |
| Abstract | A novel nonlinear planetary rover wheel/soil interaction model based on the properties of the penetration volume is proposed. This approach allows for fast multibody dynamic simulation of planetary rover operations by providing a closed-form solution for the contact forces. For the derivation of this contact model, the normal stress distribution under the planetary rover wheel is assumed to be a nonlinear function of the soil compression. The soil foundation with which the wheels of a robotic vehicle may interfere is represented by a continuum of hyperelastic springs. A linear version of this representation of the contact interface as a mattress of springs has been derived previously [1] and validated for the simulation of the interaction between two relatively inflexible objects [2]. However, for contacts involving large deformations, the nonlinear material properties have to be considered. In this paper, a brief summary of the elastic foundation model is given and the extension of the model to a hyperelastic foundation is provided so that it can be used for the intended purpose of modelling rover wheels in contact with soft terrain. A solution for the integral of the normal stress distribution of the rover wheels is proposed and verified in a number of numerical experiments by comparing the results against Bekker’s analytical approach. Although the focus of this work is on wheel/soil interaction, the general form of the volumetric contact modelling approach can be applied to any hyperelastic contact problem. |
| Sponsorship | Design Engineering Division Computers and Information in Engineering Division |
| File Format | |
| ISBN | 9780791855966 |
| DOI | 10.1115/DETC2013-13483 |
| Volume Number | Volume 7A: 9th International Conference on Multibody Systems, Nonlinear Dynamics, and Control |
| Conference Proceedings | ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference |
| Language | English |
| Publisher Date | 2013-08-04 |
| Publisher Place | Portland, Oregon, USA |
| Access Restriction | Subscribed |
| Subject Keyword | Stress concentration Robotic vehicles Compression Deformation Simulation Wheels Contact mechanics Materials properties Soil Modeling Springs |
| Content Type | Text |
| Resource Type | Article |
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