| Type of Document |
Master's Thesis |
| Author |
Hartl, Alexandre Emmanuel, Mr. |
| URN |
etd-11022006-160424 |
| Title |
Bouncing, Sliding and Rolling Dynamics
of a Spherical Rover Crossing a Ravine |
| Degree |
Master of Science |
| Graduate Program |
Aerospace Engineering |
| Advisory Committee |
| Advisor Name |
Title |
| DR. ANDRE P. MAZZOLENI |
Committee Chair |
|
| Keywords |
- valley
- dynamics
- Mars
- spherical rover
- tumbleweed
|
| Date of Defense |
2006-11-06 |
| Availability |
unrestricted |
Abstract
This study presents a numerical simulation model predicting the motion of a tumbleweed rover as it encounters ravines and valleys. The research provides an understanding of the range of tumbleweed design parameters essential for mobility over varied terrain. The study also introduces a numerical model covering the rover?s rolling, sliding and bouncing behaviors and the transitions between these modes of movement.
A collision model based on Kane?s method of dynamics is used to study the impact between the rover and flat terrain. The model is extended by considering collisions on hills, and a numerical model is created tracking the rover?s motion and transition between different terrain types. Rolling and sliding models for a rover in motion are developed for flat and sloping terrains. This study includes several case studies which demonstrate the model?s utility as an initial design tool for tumbleweed rovers.
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| Files |
| Filename |
Size |
Approximate Download Time
(Hours:Minutes:Seconds)
|
| 28.8 Modem |
56K Modem |
ISDN (64 Kb) |
ISDN (128 Kb) |
Higher-speed Access |
| |
etd.pdf |
3.86 Mb |
00:17:51 |
00:09:10 |
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