Bouncing, Sliding and Rolling Dynamics of a Spherical Rover Crossing a Ravine
| dc.contributor.advisor | DR. ANDRE P. MAZZOLENI, Committee Chair | en_US |
| dc.contributor.author | Hartl, Alexandre Emmanuel | en_US |
| dc.date.accessioned | 2010-04-02T17:54:46Z | |
| dc.date.available | 2010-04-02T17:54:46Z | |
| dc.date.issued | 2006-12-08 | en_US |
| dc.degree.discipline | Aerospace Engineering | en_US |
| dc.degree.level | thesis | en_US |
| dc.degree.name | MS | en_US |
| dc.description.abstract | 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. | en_US |
| dc.identifier.other | etd-11022006-160424 | en_US |
| dc.identifier.uri | http://www.lib.ncsu.edu/resolver/1840.16/335 | |
| dc.rights | I hereby certify that, if appropriate, I have obtained and attached hereto a written permission statement from the owner(s) of each third party copyrighted matter to be included in my thesis, dis sertation, or project report, allowing distribution as specified below. I certify that the version I submitted is the same as that approved by my advisory committee. I hereby grant to NC State University or its agents the non-exclusive license to archive and make accessible, under the conditions specified below, my thesis, dissertation, or project report in whole or in part in all forms of media, now or hereafter known. I retain all other ownership rights to the copyright of the thesis, dissertation or project report. I also retain the right to use in future works (such as articles or books) all or part of this thesis, dissertation, or project report. | en_US |
| dc.subject | valley | en_US |
| dc.subject | dynamics | en_US |
| dc.subject | Mars | en_US |
| dc.subject | spherical rover | en_US |
| dc.subject | tumbleweed | en_US |
| dc.title | Bouncing, Sliding and Rolling Dynamics of a Spherical Rover Crossing a Ravine | en_US |
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