Port-based modeling and simulation of planetary rover locomotion on rough terrain

This paper presents the implementation of a planetary rover simulation environment focused on locomotion aspects. A multibody, port-based modeling approach was taken combined with screw theory for the description of the kinematics and dynamics. Bond graphs are used as the modeling language. The contact model considers the interacting surfaces to be smooth and utilizes their differential geometry parameters. For the tracking of the wheel-terrain contact points, we utilize contact kinematic equations previously published in literature. The proposed wheel-terrain interaction model combines a Kelvin-Voigt viscoelastic system with Bekker terramechanics equations. The first simulation results of the developed system are presented, with main focus on a static stability case study for the Type-E candidate concept chassis for the ExoMars mission.