Dynamic Simulation Tool Development for Planetary Rovers

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 rockerbogie 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.

Keywords

• computer simulation
• planetary rovers
• wheel-soil interaction
• experimental validation