DEM-MBD coupled modelling and analysis for the mutual interaction of lunar rover and moon soil

被引：0
|
作者：
Xu H. [1 ]
Lei B. [1 ]
Liu J. [1 ]
机构：
[1] School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai
来源：
Zhendong yu Chongji/Journal of Vibration and Shock | 2024年 / 43卷 / 04期
关键词：
coupling modelling; discrete elements method (DEM); efficient contact detection algorithm; lunar rover; multibody dynamics (MBD);
D O I：
10.13465/j.cnki.jvs.2024.04.028
中图分类号：
学科分类号：
摘要：
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, a coupled dynamic modelling and contact detection algorithm for the granular matter and the multibody system were studied firstly. The dynamics of the granular spherical particles and the constrained multibody systems were 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 were calculated based on the Hertz-Mindlin model. On this basis, a sequential coupling strategy was presented and DEM-MBD coupled dynamic model was 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 was 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 was 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 was carried out to study the dynamic characteristics under different driving parameters and the influence of different tire shapes on the driving motion. The results show that the lunar rover with staggered teeth has a 14% longer forward distance compared to straight teeth and has higher forward efficiency, which provides some? theoretical guidance for the design of the lunar rover. © 2024 Chinese Vibration Engineering Society. All rights reserved.
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页码：239 / 249
页数：10
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