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Modeling and experimental investigation of the dynamics of a spherical Transforming Roving Rolling Explorer (TRREx) prototype
Acta Astronautica ( IF 3.1 ) Pub Date : 2020-12-24 , DOI: 10.1016/j.actaastro.2020.12.023
John R. Parsons , Andre P. Mazzoleni

This paper examines a biologically inspired, transforming mars rover concept known as the Transforming Roving Rolling Explorer (TRREx). The rover is designed to operate in two modes: the ‘roving’ and ‘rolling’ modes. The roving mode is similar to many traditional wheeled rover designs and is useful for exploring relatively flat terrains. The rolling mode is intended to enable the rover to travel down steep slopes, such as those found in ravines and crater walls. In the rolling mode, the vehicle folds itself into a sphere and propels itself by shifting its center of mass. It does this by opening and closing the eight panels which form the surface of the sphere. The evaluation of this rolling mode is the primary focus of this paper. To that end, a spherical prototype TRREx has been designed, constructed, and tested. In addition, a mathematical model of the vehicle’s rolling mode dynamics has been created. The performance of the physical prototype has been compared to simulation results and the qualitative agreement between the experimental and simulated results indicate that the mathematical model created for the vehicle’s rolling mode dynamics captures the essential behavior of the vehicle. The mathematical simulation was then used to explore the TRREx parameter design space in order to analyze the effect of changing various system parameters. A path tracking simulation is also included as a case study to highlight the ability of a TRREx vehicle to traverse a desired path.



中文翻译:

球形变形滚动轧制探索器(TRREx)原型动力学的建模和实验研究

本文研究了一种受生物学启发的,变形火星漫游者的概念,称为“变形漫游滚动探索器”(TRREx)。流动站设计为以两种模式运行:“粗纱”和“滚动”模式。漫游模式类似于许多传统的轮式漫游车设计,对于探索相对平坦的地形非常有用。滚动模式旨在使流动站能够沿着陡峭的斜坡行驶,例如在沟壑和火山口壁上发现的那些斜坡。在滚动模式下,车辆将自身折叠成一个球体,并通过移动其质心来推动自身。它通过打开和关闭构成球体表面的八个面板来完成此操作。这种滚动模式的评估是本文的重点。为此,已经设计,构造和测试了球形原型TRREx。此外,已经创建了车辆侧倾模式动力学的数学模型。已将物理原型的性能与仿真结果进行了比较,实验结果与仿真结果之间的定性一致性表明,为车辆的滚动模式动力学创建的数学模型可以捕获车辆的基本行为。然后使用数学仿真来探索TRREx参数设计空间,以分析更改各种系统参数的效果。案例研究还包括路径跟踪仿真,以突出TRREx车辆穿越所需路径的能力。已将物理原型的性能与仿真结果进行了比较,实验结果与仿真结果之间的定性一致性表明,为车辆的滚动模式动力学创建的数学模型可以捕获车辆的基本行为。然后使用数学仿真来探索TRREx参数设计空间,以分析更改各种系统参数的效果。案例研究还包括路径跟踪仿真,以突出TRREx车辆穿越所需路径的能力。已将物理原型的性能与仿真结果进行了比较,实验结果与仿真结果之间的定性一致性表明,为车辆的滚动模式动力学创建的数学模型可以捕获车辆的基本行为。然后使用数学仿真来探索TRREx参数设计空间,以分析更改各种系统参数的效果。案例研究还包括路径跟踪仿真,以突出TRREx车辆穿越所需路径的能力。然后使用数学仿真来探索TRREx参数设计空间,以分析更改各种系统参数的效果。案例研究还包括路径跟踪仿真,以突出TRREx车辆穿越所需路径的能力。然后使用数学仿真来探索TRREx参数设计空间,以分析更改各种系统参数的效果。案例研究还包括路径跟踪仿真,以突出TRREx车辆穿越所需路径的能力。

更新日期:2021-01-21
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