Study of Real-time Interactive Dynamics Simulation for Lunar Rover based on Terramechanics

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Journal of Vibration and Shock ›› 2011, Vol. 30 ›› Issue (7) : 192-196,.

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Study of Real-time Interactive Dynamics Simulation for Lunar Rover based on Terramechanics

WANG Zhe1; GAO Feng1; CHEN Zhiwei2; SUN Peng1

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Abstract

Traction capability experiments of driving wheel were performed by using the wheel-terrain interaction test-bed. From the test data, the paper deduced an improved bulldozing resistance formula which was based on slip ratio of wheel. Meanwhile, according to the formula and terramechanics theories of soft soil, the lunar rover dynamic simulation was built and performed in the Visual C++9.0 platform by using Vortex API. By comparing simulation results and experiments results of the single driving wheel, it was show that the formula and the dynamic simulation are reliable. In this platform model of the whole lunar rover was also set up and the real-time interactive control are realizable through keyboard and mouse.

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terramechanics / bulldozing resistance / virtual reality / Vortex

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WANG Zhe; GAO Feng; CHEN Zhiwei; SUN Peng. Study of Real-time Interactive Dynamics Simulation for Lunar Rover based on Terramechanics[J]. Journal of Vibration and Shock, 2011, 30(7): 192-196,