Abstract:At present, the study of the coupling interaction between the granular matter and the complex mechanical systems is faced with challenges such as multiscale, large computational costs, and difficulties in contact detection on non-smooth surfaces. In order to investigate the interaction between the lunar rover and the moon soil, the coupled dynamic modelling and contact detection algorithm for the granular matter and the multibody system are studied firstly. The dynamics of the granular spherical particles and the constrained multibody systems are modeled by the discrete element method (DEM) and the Cartesian method of the multibody dynamics (MBD), respectively, and the contact forces between the granular particles and the rigid bodies are calculated based on the Hertz-Mindlin model. On this basis, a sequential coupling strategy is presented and DEM-MBD coupled dynamic model is established. Concerning the large-scale contact detection between the non-smooth surface of the rover’s toothed wheels and the particles, a sub-regional local detection strategy is proposed to handle the contacts between the objects with non-smooth shapes, which can reduce the scale of local detection. The accuracy of the proposed theoretical model is verified through the comparison of the experimental and simulation results of a rigid cylinder impacting granular matter. Based on the proposed coupled dynamic modelling and the contact detection algorithm, dynamics simulation for the driving process of the lunar rover with toothed wheels on the lunar soil is carried out to study the dynamic characteristics under different driving parameters and the influence of different tire shapes on the driving motion. The research results show that the lunar rover with staggered teeth has a 14% longer forward distance compared to straight teet and has higher forward efficiency, which provides some theoretical guidance for the design of the lunar rover.
徐鸿,雷波,刘锦阳. 月球车与月壤交互作用的离散元-多体动力学耦合建模与分析[J]. 振动与冲击, 2024, 43(4): 239-249.
XU Hong, LEI Bo, LIU Jinyang. DEM-MBD coupled modelling and analysis for the mutual interaction of lunar rover and moon soil. JOURNAL OF VIBRATION AND SHOCK, 2024, 43(4): 239-249.
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