Abstract
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.
Highlights
In this paper, the present authors describe a Rover Chassis, Analysis and Simulation Tool (RCAST) to study mobility and support rover chassis design and optimization
In order to compare the above experimental results with the AS2TM soft-soil tire model in RCAST, the soil parameters associated with this model were manually tuned
A rover chassis and analysis computer simulation called RCAST successfully couples a rigid multibody dynamics engine with the AS2TM wheel-soil interaction module to enable locomotion performance to be studied for various rover designs
Summary
The present authors describe a Rover Chassis, Analysis and Simulation Tool (RCAST) to study mobility and support rover chassis design and optimization. RCAST simulates both the rover multibody dynamics and corresponding wheel-soil interactions (Bauer et al, 2005a). Developed in Mathwork’s Matlab/ Simulink environment, RCAST uses a commerciallyavailable wheel-soil interaction computer model called the AESCO Soft Soil Tire Model (AS2TM) to predict planetary rover locomotion (AESCO, 2003). Step-obstacle negotiation simulations are compared with a quasi-static analysis to validate RCAST. Experimental data from a single-wheel testbed are used to help validate RCAST simulation results (Bauer et al, 2005b)
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