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- W2561438810 abstract "An important consideration for the design of planetary rovers and other autonomous mobile robots is the optimization of the design with respect to impact. Impact can occur with the momentary loss of stability as the rover traverses unstructured, extraterrestrial terrain. The analysis of impact often involves the mathematical modelling of the contacting system of bodies to construct the dynamic equations of motion. With these equations, “contact” or “continuous force” models can be used to develop the impact force profile throughout the duration of the impact. While impact force proves to be a good indicator for impact analysis, the contact models used to develop it are highly dependent on the stiffness, damping and other parameters of the system’s physical constitution. Additionally, for the development of these forces, an integration of the equations of motion of the system is required. An alternative to this method that uses the partitioning of the kinetic energy of the system as a performance indicator is proposed here. While a numerical value for impact force is not developed with this method, a qualitative comparison between various impact configurations of the same system can be produced. This spares the computational expense necessary for integration of the dynamic equations, and eliminates the need for information about the constitution of the bodies in the system." @default.
- W2561438810 created "2017-01-06" @default.
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- W2561438810 date "2015-01-01" @default.
- W2561438810 modified "2023-09-27" @default.
- W2561438810 title "A NEW PERFORMANCE INDICATOR FOR IMPACT ANALYSIS WITH APPLICATIONS TO PLANETARY ROVERS" @default.
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