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Title: Mobility analysis of a legged micro-fetch rover on deformable planetary soils
Author: Yeomans, Brian
ISNI:       0000 0004 5346 8619
Awarding Body: University of Surrey
Current Institution: University of Surrey
Date of Award: 2014
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A walking vehicle with the ability to negotiate steep and rough terrain offers the potential to significantly improve the science return from future planetary surface exploration missions. An attractive configuration uses a lightweight walking scout adjunct to the main rover; the scout will have to successfully negotiate a wide range of terrains, and therefore a good understanding of the behaviour of a lightweight rover on loose regolith is essential. This study addresses this mission scenmio, and describes a new, comprehensive leg / soil interaction model for light walking vehicles on granular terrain. The study demonstrates that the semi - empirical models used with success in other contexts result in inaccurate leg / soil force predictions, and instead applies ideas from the developing study of granular materials, together with a detailed characterisation of the sinkage process, to propose and validate a combined model of terrain interaction based on an understanding of the physics and micro mechanical processes at the granular level.
Supervisor: Not available Sponsor: Not available
Qualification Name: Thesis (Ph.D.) Qualification Level: Doctoral
EThOS ID:  DOI: Not available