Abstract
Rover dynamics simulation is an essential component of its 3-D visualization platform. Here we present a Bekker theory-based rover soft-soil dynamics model to accurately reflect the wheel-ground interaction as the rover navigates on the lunar surface. A rover dynamics model was then established using the multi-body dynamics simulation system, Vortex, with an integrated soft-soil dynamics computing module, to carry out whole vehicle simulation, which revealed the kinetics features of rover locomotion in the complex lunar terrain.
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