Technical Report TR - 2017 - 01 An Overview of the Chrono Soil Contact Model ( SCM ) Implementation
نویسندگان
چکیده
This document contains details of the SCM deformable soil model implemented in Chrono. The soft soil model discussed herein is an extended version of the classical SCM Soil Contact Model used at DLR for predicting rover mobility. The model, which is based on a fast semi-empirical expeditious approach that requires few parameters, is ideal for scenarios that require a fast (near real-time) simulation of wheeled/tracked vehicle interaction with soft soils. For wheeled vehicles, no assumption is made regarding the wheel, which can be equipped with a deformable tire model.
منابع مشابه
Technical Report TR – 2016 – 10 Chrono : : Vehicle Template - Based Ground Vehicle Modeling and Simulation
Chrono::Vehicle is a module of the open-source multi-physics simulation package Chrono, aimed at modeling, simulation, and visualization of wheeled and tracked ground vehicle multibody systems. Its software architecture and design was dictated by the desire to provide an expeditious and user-friendly mechanism for assembling complex vehicle models, while leveraging the underlying Chrono modelin...
متن کاملScm – a Soil Contact Model for Multi-body System Simulations
The paper introduces a new simulation tool called Soil Contact Model (SCM) that has been recently developed at DLR’s Institute of Robotics and Mechatronics. SCM provides an interface between the classical terramechanics theory of Bekker and the capabilities of multi-body system (MBS) simulation technique for general, full 3D simulations of soil contact dynamics problems. Beyond the computation ...
متن کاملTR - 2015 - 06 DEM - PM Contact Model with Multi - Step Tangential Contact Displacement History
We provide a brief overview of the Discrete Element Method (DEM) for modeling large frictional contact problems in granular flow dynamics and quasi-static geomechanics applications. In terms of contact, DEM can be divided into two approaches: the Constraint Method (CM) or rigid-body approach, and the Penalty Method (PM) or soft-body approach. We give a detailed presentation of a DEM-PM contact ...
متن کاملSimulation of Rover Locomotion on Sandy Terrain - Modeling, Verification and Validation
In this paper a modeling technique called SCM (Soil Contact Model) for simulating the physical interaction between a rover mobility system (wheel, legs, tracks etc.) and a planetary soil surface will be presented. SCM computes the contact forces between the soil and the contact objects based on Bekker’s empirical terramechanics formulae. Within SCM the soil geometry is described as digital elev...
متن کامل