نتایج جستجو برای: sinkage
تعداد نتایج: 124 فیلتر نتایج به سال:
In order to better describe the pressure-sinkage process of deep-sea surface sediments, this article proposes a new four-element model. First, was divided into four components according change in sediment sinkage rate, and time-dependent mechanical property sediments described. Then, model established by introducing variable-order fractional derivatives modelling idea classic element combinatio...
Humanoid robots have been expected to work as an alternative to human in severe working conditions. In order for humanoid robots to work in the field of civil engineering, construction or disaster-relief, humanoid robots must have ability of walking on uneven terrain such as sand, clay and snow. However, most of studies on biped walking on even or uneven terrain have assumed stiff ground. Biped...
Physical properties of terrains encountered by the Curiosity rover during the first 360 sols of operations have been inferred from analysis of the scour zones produced by Sky Crane Landing System engine plumes, wheel touch down dynamics, pits produced by Chemical Camera (ChemCam) laser shots, rover wheel traverses over rocks, the extent of sinkage into soils, and the magnitude and sign of rover...
Future planetary exploration missions will require rovers to perform difficult tasks in rough terrain, with limited human supervision. Knowledge of terrain physical characteristics would allow a rover to adapt its control and planning strategies to maximize its effectiveness. This paper describes recent and current work at MIT in the area of terrain estimation and sensing. A method for on-line ...
A challenging topic in the field of planetary rover simulations is the modeling of the contact between the rover and its environment. Multibody simulation models are used to represent the kinematic structure of a wheeled rover, but its interface with the environment relies on sand-wheel contact dynamics. A new advanced contact model is presented and tuned according to single wheel experiments b...
This paper uses the Bekker model for land locomotion analysis to compare ground vehicle vehicles with different running gear configurations. The Bekker model is inherently phenomenological in nature and requires empirical data to both calibrate and validate the methodology for realistic soil/terrain conditions. This formalism consists of two fundamental equations. The first uses the Coulomb-Moh...
The current practice for experimentally evaluating the performance of extraterrestrial rovers/rover wheels is to conduct tests on earth on a soil simulant, appropriate to the regolith on the extraterrestrial body of interest. In the tests, the normal load (force) applied by the rover/rover wheel to the soil simulant is set identical to that expected on the extraterrestrial surface, taking into ...
In order to study passing ability of lunar rover in lunar soil, the mechanical parameters between lunar wheel and lunar soil should be analyzed. The mechanical parameters can reflect the mechanical relationship between lunar rover wheel and regolith. These parameters include sinkage, drawbar pull, driving torque, motion resistance and slip. In this paper, these parameters are measured by soil b...
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