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Quasi-Static Mobility Analysis Tool for the Design of Lunar/Martian Rovers and Construction Vehicles
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English
Abstract
An important characteristic of vehicles for roving or construction work on the Moon or Mars will be their obstacle-climbing and -crossing capability. These obstacles will include boulders, crater rims, lava fields, and crevasses with dimensions of interest on the order of 1 meter. Therefore, terrain traversing, or mobility performance, is a crucial parameter in the design of such extraterrestrial off-road vehicles. This paper document work performed under the Mars Rover Sample Return study to develop computer-based rover-mobility analysis tools. The computer software implemented is a two-dimensional (planar) model of a generic 6-wheel by 6-wheel drive vehicle. This software code can be used iteratively to analyze and optimize vehicle conceptual designs against a variety of independent articulation parameters.
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Lindemann, R., "Quasi-Static Mobility Analysis Tool for the Design of Lunar/Martian Rovers and Construction Vehicles," SAE Technical Paper 901650, 1990, https://doi.org/10.4271/901650.Also In
References
- Jindra, F. “Obstacle Performance of Articulated Wheeled Vehicles,” Journal of Terramechanics 3 2 39 56 1966
- “A Robotic Exploration Program: In Response to the NASA 90-Day Study on Human Exploration of the Moon and Mars,” internal document JPL D-6688 Jet Propulsion Laboratory Pasadena, California December 1 1989
- Wolfram, S. “Mathematica, A System for Doing Mathematics by Computer,” Wolfram Research, Inc. P.O. Box 6059, Champaign, Illinois 61821 1988