Dynamic Anchoring in Soft Regolith: Testing and Prediction

Ebert Tom; Larochelle Pierre

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Dynamic Anchoring in Soft Regolith: Testing and Prediction

机译：软骨灰石中的动态锚固：测试和预测

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In recent decades, the exploration of celestial bodies has moved to surface-based landers and rovers designed to perform experiments on the ground. The presented research focuses on legged rovers designed to climb steep slopes covered in uncompacted regolith, similar to those found on lunar crater walls. These rovers would claw into the surface using dynamic anchors on their feet. Physical testing is performed by engaging a series of anchors with lunar simulant. Multiple anchor configurations are tested and evaluated to determine the geometries with the most beneficial characteristics for dynamic anchoring. Several anchor geometries show sufficient holding forces for use on future legged exploration rovers. Additionally, two methods for predicting the anchoring forces with limited knowledge of the regolith are presented, one using discrete elements, the other regression curve-fitting. Both methods show a prediction accuracy for peak anchoring forces well within an order of magnitude. (C) 2017 American Society of Civil Engineers.

机译：近几十年来，对天体的探索已转移到旨在在地面进行实验的地基着陆器和火星车上。提出的研究集中在有腿的漫游者上，这些漫游者旨在爬上未压实的粉煤灰覆盖的陡坡，类似于在月球坑壁上发现的那些。这些漫游者会利用脚上的动态锚钉将它们抓入地面。通过使一系列锚与月球模拟物接合来进行物理测试。测试和评估了多种锚固件配置，以确定具有最有利于动态锚固特性的几何形状。几种锚固几何形状显示出足够的保持力，可用于将来的有腿勘探车。此外，还提出了两种在有限度了解灰岩的情况下预测锚固力的方法，一种使用离散元素，另一种使用回归曲线拟合。两种方法都显示出峰值锚固力的预测准确度在一个数量级内。（C）2017年美国土木工程师学会。

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《Journal of aerospace engineering》 |2018年第2期|04017087.1-04017087.13|共13页
作者
Ebert Tom; Larochelle Pierre;
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Florida Inst Technol, Robot & Spatial Syst Lab, 150 W Univ Blvd, Melbourne, FL 32901 USA;

Florida Inst Technol, Robot & Spatial Syst Lab, 150 W Univ Blvd, Melbourne, FL 32901 USA;

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入库时间 2022-08-18 00:13:29

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Dynamic Anchoring in Soft Regolith: Testing and Prediction

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