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Determining Wheel-Soil Interaction Loads using a Meshfree Finite Element Approach Assisting Future Missions with Rover Wheel Design

Contreras, Michael T. and Peng, Chia-Yen and Wang, Dongdon and Chen, Jiun-Shyan (2012) Determining Wheel-Soil Interaction Loads using a Meshfree Finite Element Approach Assisting Future Missions with Rover Wheel Design. In: AIAA Guidance, Navigation, and Control Conference and Co-located Conferences, August 13-16, 2012, Minneapolis, MN. http://resolver.caltech.edu/CaltechAUTHORS:20160224-162613140

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Abstract

A wheel experiencing sinkage and slippage events poses a high risk to rover missions as evidenced by recent mobility challenges on the Mars Exploration Rover (MER) project. Because several factors contribute to wheel sinkage and slippage conditions such as soil composition, large deformation soil behavior, wheel geometry, nonlinear contact forces, terrain irregularity, etc., there are significant benefits to modeling these events to a sufficient degree of complexity. For the purposes of modeling wheel sinkage and slippage at an engineering scale, meshfree finite element approaches enable simulations that capture sufficient detail of wheel-soil interaction while remaining computationally feasible. This study demonstrates some of the large deformation modeling capability of meshfree methods and the realistic solutions obtained by accounting for the soil material properties. A benchmark wheel-soil interaction problem is developed and analyzed using a specific class of meshfree methods called Reproducing Kernel Particle Method (RKPM). The benchmark problem is also analyzed using a commercially available finite element approach with Lagrangian meshing for comparison. RKPM results are comparable to classical pressure-sinkage terramechanics relationships proposed by Bekker-Wong. Pending experimental calibration by future work, the meshfree modeling technique will be a viable simulation tool for trade studies assisting rover wheel design.


Item Type:Conference or Workshop Item (Paper)
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.2514/6.2012-4562DOIArticle
http://arc.aiaa.org/doi/abs/10.2514/6.2012-4562PublisherArticle
http://trs-new.jpl.nasa.gov/dspace/handle/2014/44979OrganizationArticle
Additional Information:© 2012 AIAA. The research was carried out at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration. The first author would like to thank Michael Long, Chris Tanner, and Greg Davis of JPL for their knowledgeable input on how to use LS-Dyna and helpful reviews of this work. He would also like to acknowledge Cezary Bojanowski and Ronald Kulak of the Transportation Research and Analysis Computing Center (TRACC) at Argonne National Laboratory for their keen insight on soil modeling in LS-Dyna.
Group:Keck Institute for Space Studies
Funders:
Funding AgencyGrant Number
NASA/JPL/CaltechUNSPECIFIED
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AIAA Paper2012-4562
Record Number:CaltechAUTHORS:20160224-162613140
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20160224-162613140
Official Citation:Michael Contreras, Chia-Yen Peng, Dongdon Wang, and Jiun-Shyan Chen. "Determining Wheel-Soil Interaction Loads using a Meshfree Finite Element Approach Assisting Future Missions with Rover Wheel Design", AIAA Modeling and Simulation Technologies Conference, Guidance, Navigation, and Control and Co-located Conferences. http://dx.doi.org/10.2514/6.2012-4562
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:64753
Collection:CaltechAUTHORS
Deposited By: Colette Connor
Deposited On:25 Feb 2016 16:44
Last Modified:25 Feb 2016 16:44

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