Planetary Rover Mobility Performance on Soft and Uneven Terrain
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Rovers on Mars or Moon for planetary exploration are obtainig increased importance within the spaceflight
nations. To achieve full mission success, driveability and mobility in all kind of complex motion scenarios has to be
guaranteed. Here, proper modeling and understanding of the complex wheel-soil interaction, i.e. the terramechanics for
flexible and hard wheels interacting with hard, soft and loose soil, is a major driver for supporting reliably rover design and
to assist in testing of the flight model. The physical contact models are integrated within a multibody system approach, and
the performance of the rover mobility will be shown for various worst case driving scenarios on hard and soft soil.
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