Browsing by Author "Hartl, Alexandre Emmanuel"

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    Bouncing, Sliding and Rolling Dynamics of a Spherical Rover Crossing a Ravine
    (2006-12-08) Hartl, Alexandre Emmanuel; DR. ANDRE P. MAZZOLENI, Committee Chair
    This study presents a numerical simulation model predicting the motion of a tumbleweed rover as it encounters ravines and valleys. The research provides an understanding of the range of tumbleweed design parameters essential for mobility over varied terrain. The study also introduces a numerical model covering the rover's rolling, sliding and bouncing behaviors and the transitions between these modes of movement. A collision model based on Kane's method of dynamics is used to study the impact between the rover and flat terrain. The model is extended by considering collisions on hills, and a numerical model is created tracking the rover's motion and transition between different terrain types. Rolling and sliding models for a rover in motion are developed for flat and sloping terrains. This study includes several case studies which demonstrate the model's utility as an initial design tool for tumbleweed rovers.