A report discusses the development of a computational model of a Mars Explorer Rover maneuvering across terrain under varying conditions. The model is used to increase understanding of the rover dynamics. Increased understanding is helpful in planning further tests and in extending the operational range of the rover to terrain conditions that would otherwise have to be avoided in a conservative approach. The model is implemented within MSC.ADAMS®, a commercial suite of computer programs for simulating a variety of automotive and aeronautical mechanical systems. Following its initial formulation, the model has been successively refined in an iterative process of simulation, testing on simulated terrain, correlation of simulation results with test results, and adjustment of model parameters to increase degrees of matching between simulation and test results. In particular, three aspects of the model have been refined, as follows:
- Wheel radius, which was set to cancel effects of cleats, and of compliance and roughness of the ground surface;
- A submodel of friction between the wheels and a high-friction mat used in the tests; and
- A submodel of internal and external power losses that includes no-load power consumed by wheel mechanisms and nominal rolling resistance.
This work was done by Gary Ortiz and Randel Lindemann of Caltech for NASA’s Jet Propulsion Laboratory. For more information, download the Technical Support Package (free white paper) at www.techbriefs.com/tsp under the Mechanics/Machinery category.
The software used in this innovation is available for commercial licensing. Please contact Karina Edmonds of the California Institute of Technology at (626) 395-2322. Refer to NPO-42547.
This Brief includes a Technical Support Package (TSP).
Simulation and Testing of Maneuvering of a Planetary Rover
(reference NPO-42547) is currently available for download from the TSP library.
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Overview
The document is a Technical Support Package from NASA's Jet Propulsion Laboratory (JPL) concerning the simulation and testing of maneuvering planetary rovers, identified by the NPO-42547 designation. It is part of NASA Tech Briefs, which aim to disseminate aerospace-related developments that have potential technological, scientific, or commercial applications.
The primary focus of this document is on the innovation of dynamic testing, simulation, and correlation of planetary rovers. This technology is crucial for the development and operation of rovers that explore planetary surfaces, such as Mars. The ability to simulate and test rover maneuvers allows engineers and scientists to predict how these vehicles will perform in various terrains and conditions, which is essential for mission success.
The document emphasizes the importance of rigorous testing and simulation in the design process of planetary rovers. By utilizing advanced simulation techniques, researchers can create realistic models of rover behavior, enabling them to assess performance before actual deployment. This not only enhances the reliability of the rovers but also reduces the risks associated with space missions.
Additionally, the Technical Support Package provides contact information for further inquiries, specifically directing interested parties to the Innovative Technology Assets Management team at JPL. This team can offer additional insights and assistance regarding the research and technology discussed in the document.
The document also includes a notice regarding the proprietary nature of the information contained within, indicating that it may be subject to export control regulations. It clarifies that the United States Government, nor any representatives acting on its behalf, assume liability for the use of the information provided.
In summary, the Technical Support Package NPO-42547 serves as a resource for understanding the advancements in the simulation and testing of planetary rovers, highlighting the significance of these technologies in ensuring successful exploration missions. It reflects NASA's commitment to sharing knowledge and fostering innovation in aerospace technology, with implications that extend beyond space exploration into broader scientific and commercial realms.
